16.409 * [progress]: [Phase 1 of 3] Setting up. 0.002 * * * [progress]: [1/2] Preparing points 0.094 * * * [progress]: [2/2] Setting up program. 0.104 * [progress]: [Phase 2 of 3] Improving. 0.104 * [simplify]: Simplifying: (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) 0.105 * * [simplify]: Extracting # 0 : cost 1 inf + 0 0.105 * * [simplify]: Extracting # 1 : cost 3 inf + 0 0.105 * * [simplify]: Extracting # 2 : cost 3 inf + 1 0.105 * * [simplify]: Extracting # 3 : cost 5 inf + 1 0.105 * * [simplify]: Extracting # 4 : cost 7 inf + 1 0.105 * * [simplify]: Extracting # 5 : cost 11 inf + 1 0.105 * * [simplify]: Extracting # 6 : cost 10 inf + 127 0.105 * * [simplify]: Extracting # 7 : cost 9 inf + 171 0.105 * * [simplify]: Extracting # 8 : cost 7 inf + 214 0.105 * * [simplify]: Extracting # 9 : cost 5 inf + 440 0.105 * * [simplify]: Extracting # 10 : cost 3 inf + 930 0.106 * * [simplify]: Extracting # 11 : cost 1 inf + 1740 0.106 * * [simplify]: Extracting # 12 : cost 0 inf + 2206 0.107 * * [simplify]: iteration 0 : 17 enodes (cost 466 ) 0.111 * * [simplify]: Extracting # 0 : cost 0 inf + 2206 0.111 * * [simplify]: Extracting # 1 : cost 6 inf + 2206 0.112 * * [simplify]: Extracting # 2 : cost 0 inf + 3083 0.113 * * [simplify]: iteration 1 : 32 enodes (cost 466 ) 0.121 * * [simplify]: Extracting # 0 : cost 0 inf + 3083 0.122 * * [simplify]: Extracting # 1 : cost 18 inf + 3083 0.123 * * [simplify]: Extracting # 2 : cost 0 inf + 6385 0.124 * * [simplify]: iteration 2 : 69 enodes (cost 466 ) 0.168 * * [simplify]: Extracting # 0 : cost 0 inf + 6385 0.170 * * [simplify]: Extracting # 1 : cost 50 inf + 4469 0.174 * * [simplify]: Extracting # 2 : cost 0 inf + 16265 0.181 * * [simplify]: iteration 3 : 240 enodes (cost 466 ) 0.327 * * [simplify]: Extracting # 0 : cost 0 inf + 16265 0.339 * * [simplify]: Extracting # 1 : cost 143 inf + 8071 0.349 * * [simplify]: Extracting # 2 : cost 0 inf + 48154 0.360 * * [simplify]: iteration 4 : 917 enodes (cost 466 ) 1.386 * * [simplify]: Extracting # 0 : cost 0 inf + 48154 1.435 * * [simplify]: Extracting # 1 : cost 1055 inf + 19303 1.556 * * [simplify]: Extracting # 2 : cost 0 inf + 423376 1.670 * * [simplify]: Extracting # 3 : cost 0 inf + 422176 1.773 * * [simplify]: Extracting # 4 : cost 0 inf + 421776 1.894 * * [simplify]: iteration 5 : 4415 enodes (cost 466 ) 4.692 * * [simplify]: Extracting # 0 : cost 0 inf + 421776 4.848 * * [simplify]: Extracting # 1 : cost 212 inf + 412384 5.005 * * [simplify]: Extracting # 2 : cost 0 inf + 445073 5.128 * * [simplify]: iteration done: 5001 enodes (cost 466 ) 5.129 * [simplify]: Simplified to: (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) 5.129 * * [progress]: iteration 1 / 4 5.129 * * * [progress]: picking best candidate 5.135 * * * * [pick]: Picked # 5.135 * * * [progress]: localizing error 5.180 * * * [progress]: generating rewritten candidates 5.180 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 5.290 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2) 5.306 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1 2) 5.318 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1) 5.402 * * * [progress]: generating series expansions 5.402 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 5.403 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) 5.403 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in (lambda1 lambda2 phi1 phi2) around 0 5.403 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in phi2 5.403 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in phi2 5.404 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in phi2 5.404 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 5.404 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 5.404 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.404 * [backup-simplify]: Simplify lambda2 into lambda2 5.404 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 5.404 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 5.404 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 5.404 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.404 * [backup-simplify]: Simplify 0.5 into 0.5 5.404 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 5.404 * [taylor]: Taking taylor expansion of phi1 in phi2 5.404 * [backup-simplify]: Simplify phi1 into phi1 5.404 * [taylor]: Taking taylor expansion of phi2 in phi2 5.404 * [backup-simplify]: Simplify 0 into 0 5.404 * [backup-simplify]: Simplify 1 into 1 5.404 * [backup-simplify]: Simplify (+ phi1 0) into phi1 5.404 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.404 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.404 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.404 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 5.404 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 5.405 * [backup-simplify]: Simplify (- 0) into 0 5.405 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 5.405 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in phi2 5.405 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 5.405 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 5.405 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.405 * [backup-simplify]: Simplify lambda1 into lambda1 5.405 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 5.405 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 5.405 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 5.405 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.405 * [backup-simplify]: Simplify 0.5 into 0.5 5.405 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 5.405 * [taylor]: Taking taylor expansion of phi1 in phi2 5.405 * [backup-simplify]: Simplify phi1 into phi1 5.405 * [taylor]: Taking taylor expansion of phi2 in phi2 5.405 * [backup-simplify]: Simplify 0 into 0 5.405 * [backup-simplify]: Simplify 1 into 1 5.405 * [backup-simplify]: Simplify (+ phi1 0) into phi1 5.405 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.405 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.405 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.405 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 5.405 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 5.406 * [backup-simplify]: Simplify (- 0) into 0 5.406 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 5.406 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi2 5.406 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 5.406 * [taylor]: Taking taylor expansion of phi1 in phi2 5.406 * [backup-simplify]: Simplify phi1 into phi1 5.406 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 5.406 * [taylor]: Taking taylor expansion of phi2 in phi2 5.406 * [backup-simplify]: Simplify 0 into 0 5.406 * [backup-simplify]: Simplify 1 into 1 5.406 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in phi2 5.406 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi2 5.406 * [taylor]: Taking taylor expansion of 2 in phi2 5.406 * [backup-simplify]: Simplify 2 into 2 5.406 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 5.406 * [taylor]: Taking taylor expansion of phi1 in phi2 5.406 * [backup-simplify]: Simplify phi1 into phi1 5.406 * [taylor]: Taking taylor expansion of phi2 in phi2 5.406 * [backup-simplify]: Simplify 0 into 0 5.406 * [backup-simplify]: Simplify 1 into 1 5.406 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in phi2 5.406 * [taylor]: Taking taylor expansion of 2 in phi2 5.406 * [backup-simplify]: Simplify 2 into 2 5.406 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi2 5.406 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.406 * [backup-simplify]: Simplify lambda2 into lambda2 5.406 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 5.406 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.406 * [backup-simplify]: Simplify lambda1 into lambda1 5.406 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 5.406 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 5.406 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 5.406 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.406 * [backup-simplify]: Simplify 0.5 into 0.5 5.406 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 5.406 * [taylor]: Taking taylor expansion of phi1 in phi2 5.406 * [backup-simplify]: Simplify phi1 into phi1 5.406 * [taylor]: Taking taylor expansion of phi2 in phi2 5.406 * [backup-simplify]: Simplify 0 into 0 5.406 * [backup-simplify]: Simplify 1 into 1 5.406 * [backup-simplify]: Simplify (+ phi1 0) into phi1 5.406 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.406 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.407 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.407 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 5.407 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 5.407 * [backup-simplify]: Simplify (- 0) into 0 5.407 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 5.407 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.407 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 5.407 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) 5.407 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.407 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 5.408 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 5.408 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.408 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 5.408 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 5.408 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) 5.409 * [backup-simplify]: Simplify (* phi1 0) into 0 5.409 * [backup-simplify]: Simplify (* 2 0) into 0 5.409 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 5.409 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 5.409 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))) 5.409 * [backup-simplify]: Simplify (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) 5.410 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) 5.410 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) 5.411 * [backup-simplify]: Simplify (+ (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) 5.411 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) 5.412 * [backup-simplify]: Simplify (+ 0) into 0 5.412 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 5.413 * [backup-simplify]: Simplify (+ 0 1) into 1 5.414 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 5.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.415 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 5.415 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.415 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.416 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 5.416 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.416 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 5.417 * [backup-simplify]: Simplify (+ 0) into 0 5.417 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 5.417 * [backup-simplify]: Simplify (+ 0 1) into 1 5.417 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 5.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.419 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 5.419 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.419 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.420 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 5.420 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 5.420 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 5.420 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.421 * [backup-simplify]: Simplify (+ 0 0) into 0 5.421 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 0) into (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 5.422 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) into (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) 5.423 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 5.423 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 5.423 * [backup-simplify]: Simplify (+ 0) into 0 5.423 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 5.424 * [backup-simplify]: Simplify (+ 0 1) into 1 5.424 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 5.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.426 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 5.426 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.426 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 5.426 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 5.427 * [backup-simplify]: Simplify (+ (* lambda1 (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* lambda1 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* lambda1 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 5.427 * [backup-simplify]: Simplify (+ (* lambda2 (- (+ (* 0.5 (* lambda1 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* lambda1 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) 5.428 * [backup-simplify]: Simplify (+ (* 2 (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (* 0 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (- (+ (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))))) 5.429 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (+ (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1))))))))) into (- (* 2 phi1) (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) 5.429 * [backup-simplify]: Simplify (- (- (* 2 phi1) (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) into (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 2 phi1)) 5.431 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 2 phi1))) into (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) 5.433 * [backup-simplify]: Simplify (/ (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))) (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))))) 5.433 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in phi1 5.434 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in phi1 5.434 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in phi1 5.434 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 5.434 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 5.434 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.434 * [backup-simplify]: Simplify lambda2 into lambda2 5.434 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 5.434 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.434 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.434 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.434 * [backup-simplify]: Simplify 0.5 into 0.5 5.434 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.434 * [taylor]: Taking taylor expansion of phi1 in phi1 5.434 * [backup-simplify]: Simplify 0 into 0 5.434 * [backup-simplify]: Simplify 1 into 1 5.434 * [taylor]: Taking taylor expansion of phi2 in phi1 5.434 * [backup-simplify]: Simplify phi2 into phi2 5.434 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.434 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.434 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.434 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.434 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.434 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.435 * [backup-simplify]: Simplify (- 0) into 0 5.435 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.435 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in phi1 5.435 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 5.435 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 5.435 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.435 * [backup-simplify]: Simplify lambda1 into lambda1 5.435 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 5.435 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.435 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.435 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.435 * [backup-simplify]: Simplify 0.5 into 0.5 5.435 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.435 * [taylor]: Taking taylor expansion of phi1 in phi1 5.435 * [backup-simplify]: Simplify 0 into 0 5.435 * [backup-simplify]: Simplify 1 into 1 5.435 * [taylor]: Taking taylor expansion of phi2 in phi1 5.435 * [backup-simplify]: Simplify phi2 into phi2 5.435 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.435 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.435 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.435 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.435 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.435 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.436 * [backup-simplify]: Simplify (- 0) into 0 5.436 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.436 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 5.436 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.436 * [taylor]: Taking taylor expansion of phi1 in phi1 5.436 * [backup-simplify]: Simplify 0 into 0 5.436 * [backup-simplify]: Simplify 1 into 1 5.436 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.436 * [taylor]: Taking taylor expansion of phi2 in phi1 5.436 * [backup-simplify]: Simplify phi2 into phi2 5.436 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in phi1 5.436 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 5.436 * [taylor]: Taking taylor expansion of 2 in phi1 5.436 * [backup-simplify]: Simplify 2 into 2 5.436 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 5.436 * [taylor]: Taking taylor expansion of phi1 in phi1 5.436 * [backup-simplify]: Simplify 0 into 0 5.436 * [backup-simplify]: Simplify 1 into 1 5.436 * [taylor]: Taking taylor expansion of phi2 in phi1 5.436 * [backup-simplify]: Simplify phi2 into phi2 5.436 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in phi1 5.436 * [taylor]: Taking taylor expansion of 2 in phi1 5.436 * [backup-simplify]: Simplify 2 into 2 5.436 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 5.436 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.436 * [backup-simplify]: Simplify lambda2 into lambda2 5.436 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 5.436 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.436 * [backup-simplify]: Simplify lambda1 into lambda1 5.436 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 5.436 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.436 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.436 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.436 * [backup-simplify]: Simplify 0.5 into 0.5 5.436 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.436 * [taylor]: Taking taylor expansion of phi1 in phi1 5.436 * [backup-simplify]: Simplify 0 into 0 5.436 * [backup-simplify]: Simplify 1 into 1 5.436 * [taylor]: Taking taylor expansion of phi2 in phi1 5.436 * [backup-simplify]: Simplify phi2 into phi2 5.436 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.436 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.436 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.436 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.436 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.436 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.437 * [backup-simplify]: Simplify (- 0) into 0 5.437 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.437 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.437 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.437 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) 5.437 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.437 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.438 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) 5.438 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.438 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 5.438 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (pow phi2 2)) into (+ (pow phi2 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) 5.438 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) (+ (pow phi2 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)))) into (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) 5.438 * [backup-simplify]: Simplify (* 0 phi2) into 0 5.439 * [backup-simplify]: Simplify (* 2 0) into 0 5.439 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.439 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 phi2)) 2)) into (* lambda1 (pow (cos (* 0.5 phi2)) 2)) 5.439 * [backup-simplify]: Simplify (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))) into (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))) 5.439 * [backup-simplify]: Simplify (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) 5.440 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) 5.440 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) 5.441 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) 5.441 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) 5.442 * [backup-simplify]: Simplify (+ 0) into 0 5.443 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 5.443 * [backup-simplify]: Simplify (+ 1 0) into 1 5.443 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 5.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.445 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 5.445 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.445 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.445 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 5.445 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.446 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 5.446 * [backup-simplify]: Simplify (+ 0) into 0 5.446 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 5.447 * [backup-simplify]: Simplify (+ 1 0) into 1 5.447 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 5.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.449 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 5.449 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.449 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.449 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 5.449 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 5.449 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 5.450 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.450 * [backup-simplify]: Simplify (+ 0 0) into 0 5.450 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 0) into (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 5.451 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) into (- (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 5.451 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 5.451 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.451 * [backup-simplify]: Simplify (+ 0) into 0 5.452 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 5.452 * [backup-simplify]: Simplify (+ 1 0) into 1 5.452 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 5.454 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.454 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 5.454 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.454 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.454 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 5.455 * [backup-simplify]: Simplify (+ (* lambda1 (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 5.455 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 0 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) into (- (* 1.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 5.455 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (* 0 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 5.456 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) into (- (* 2 phi2) (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 5.456 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 2 phi2)) 5.457 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 2 phi2))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) 5.458 * [backup-simplify]: Simplify (/ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))))) 5.458 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda2 5.458 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda2 5.458 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda2 5.458 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 5.458 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.458 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.458 * [backup-simplify]: Simplify 0 into 0 5.458 * [backup-simplify]: Simplify 1 into 1 5.458 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.458 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.459 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.459 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.459 * [backup-simplify]: Simplify 0.5 into 0.5 5.459 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.459 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.459 * [backup-simplify]: Simplify phi1 into phi1 5.459 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.459 * [backup-simplify]: Simplify phi2 into phi2 5.459 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.459 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.459 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.459 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.459 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.459 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.459 * [backup-simplify]: Simplify (- 0) into 0 5.459 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.459 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 5.459 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 5.459 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 5.459 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.460 * [backup-simplify]: Simplify lambda1 into lambda1 5.460 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.460 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.460 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.460 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.460 * [backup-simplify]: Simplify 0.5 into 0.5 5.460 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.460 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.460 * [backup-simplify]: Simplify phi1 into phi1 5.460 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.460 * [backup-simplify]: Simplify phi2 into phi2 5.460 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.460 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.460 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.460 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.460 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.460 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.460 * [backup-simplify]: Simplify (- 0) into 0 5.460 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.460 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 5.460 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.460 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.460 * [backup-simplify]: Simplify phi1 into phi1 5.460 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.460 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.460 * [backup-simplify]: Simplify phi2 into phi2 5.461 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda2 5.461 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 5.461 * [taylor]: Taking taylor expansion of 2 in lambda2 5.461 * [backup-simplify]: Simplify 2 into 2 5.461 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 5.461 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.461 * [backup-simplify]: Simplify phi1 into phi1 5.461 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.461 * [backup-simplify]: Simplify phi2 into phi2 5.461 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 5.461 * [taylor]: Taking taylor expansion of 2 in lambda2 5.461 * [backup-simplify]: Simplify 2 into 2 5.461 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 5.461 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.461 * [backup-simplify]: Simplify 0 into 0 5.461 * [backup-simplify]: Simplify 1 into 1 5.461 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 5.461 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.461 * [backup-simplify]: Simplify lambda1 into lambda1 5.461 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.461 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.461 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.461 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.461 * [backup-simplify]: Simplify 0.5 into 0.5 5.461 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.461 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.461 * [backup-simplify]: Simplify phi1 into phi1 5.461 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.461 * [backup-simplify]: Simplify phi2 into phi2 5.461 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.461 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.461 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.461 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.461 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.461 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.462 * [backup-simplify]: Simplify (- 0) into 0 5.462 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.462 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.462 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.462 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.462 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.462 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.462 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.463 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) 5.463 * [backup-simplify]: Simplify (+ 0 (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) into (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) 5.463 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.463 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 5.463 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.464 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.464 * [backup-simplify]: Simplify (* 0 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 5.464 * [backup-simplify]: Simplify (* 2 0) into 0 5.464 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 5.464 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 5.465 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2))) 5.465 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))) 5.466 * [backup-simplify]: Simplify (+ 0) into 0 5.466 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 5.466 * [backup-simplify]: Simplify (+ 0 0) into 0 5.466 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 5.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.467 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 5.468 * [backup-simplify]: Simplify (- 0) into 0 5.468 * [backup-simplify]: Simplify (+ 0 0) into 0 5.468 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 5.468 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 5.468 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 5.468 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.468 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.469 * [backup-simplify]: Simplify (+ 0 0) into 0 5.469 * [backup-simplify]: Simplify (+ 0 0) into 0 5.469 * [backup-simplify]: Simplify (+ 0 0) into 0 5.469 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 5.469 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 5.470 * [backup-simplify]: Simplify (+ 0) into 0 5.470 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 5.470 * [backup-simplify]: Simplify (+ 0 0) into 0 5.471 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 5.471 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.471 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 5.472 * [backup-simplify]: Simplify (- 0) into 0 5.472 * [backup-simplify]: Simplify (+ 0 0) into 0 5.472 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 5.472 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 5.473 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.473 * [backup-simplify]: Simplify (+ (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 5.473 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 5.474 * [backup-simplify]: Simplify (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 5.474 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 5.475 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2))))))) 5.475 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda1 5.475 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda1 5.475 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda1 5.475 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 5.475 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.475 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.475 * [backup-simplify]: Simplify lambda2 into lambda2 5.475 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 5.475 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 5.475 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 5.475 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.475 * [backup-simplify]: Simplify 0.5 into 0.5 5.475 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 5.475 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.475 * [backup-simplify]: Simplify phi1 into phi1 5.475 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.475 * [backup-simplify]: Simplify phi2 into phi2 5.475 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.475 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.475 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.475 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.475 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.475 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.476 * [backup-simplify]: Simplify (- 0) into 0 5.476 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.476 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda1 5.476 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 5.476 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.476 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.476 * [backup-simplify]: Simplify 0 into 0 5.476 * [backup-simplify]: Simplify 1 into 1 5.476 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 5.476 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 5.476 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 5.476 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.476 * [backup-simplify]: Simplify 0.5 into 0.5 5.476 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 5.476 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.476 * [backup-simplify]: Simplify phi1 into phi1 5.476 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.476 * [backup-simplify]: Simplify phi2 into phi2 5.476 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.476 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.476 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.476 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.476 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.476 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.479 * [backup-simplify]: Simplify (- 0) into 0 5.479 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.480 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda1 5.480 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.480 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.480 * [backup-simplify]: Simplify phi1 into phi1 5.480 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.480 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.480 * [backup-simplify]: Simplify phi2 into phi2 5.480 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda1 5.480 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda1 5.480 * [taylor]: Taking taylor expansion of 2 in lambda1 5.480 * [backup-simplify]: Simplify 2 into 2 5.480 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 5.480 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.480 * [backup-simplify]: Simplify phi1 into phi1 5.480 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.480 * [backup-simplify]: Simplify phi2 into phi2 5.480 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda1 5.480 * [taylor]: Taking taylor expansion of 2 in lambda1 5.480 * [backup-simplify]: Simplify 2 into 2 5.480 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda1 5.480 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.480 * [backup-simplify]: Simplify lambda2 into lambda2 5.480 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 5.480 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.480 * [backup-simplify]: Simplify 0 into 0 5.480 * [backup-simplify]: Simplify 1 into 1 5.480 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 5.480 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 5.480 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 5.480 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.480 * [backup-simplify]: Simplify 0.5 into 0.5 5.480 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 5.480 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.480 * [backup-simplify]: Simplify phi1 into phi1 5.480 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.480 * [backup-simplify]: Simplify phi2 into phi2 5.480 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.480 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.480 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.480 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.480 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.480 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.481 * [backup-simplify]: Simplify (- 0) into 0 5.481 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.481 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.481 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.481 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.481 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.481 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.482 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.482 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 5.482 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 5.482 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.482 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 5.482 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.482 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 5.482 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.483 * [backup-simplify]: Simplify (* 2 0) into 0 5.483 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 5.483 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 5.483 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) 5.484 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) 5.484 * [backup-simplify]: Simplify (+ 0) into 0 5.485 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 5.485 * [backup-simplify]: Simplify (+ 0 0) into 0 5.485 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 5.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.486 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 5.486 * [backup-simplify]: Simplify (- 0) into 0 5.486 * [backup-simplify]: Simplify (+ 0 0) into 0 5.487 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 5.487 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.487 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 5.487 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.487 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.487 * [backup-simplify]: Simplify (+ 0 0) into 0 5.487 * [backup-simplify]: Simplify (+ 0 0) into 0 5.488 * [backup-simplify]: Simplify (+ 0 0) into 0 5.488 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 5.488 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 5.488 * [backup-simplify]: Simplify (+ 0) into 0 5.489 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 5.489 * [backup-simplify]: Simplify (+ 0 0) into 0 5.489 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 5.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.490 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 5.490 * [backup-simplify]: Simplify (- 0) into 0 5.490 * [backup-simplify]: Simplify (+ 0 0) into 0 5.490 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 5.491 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.491 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.492 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 5.492 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 5.492 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 5.492 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 5.493 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 5.493 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda1 5.493 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda1 5.493 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda1 5.493 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 5.493 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.493 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.493 * [backup-simplify]: Simplify lambda2 into lambda2 5.493 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 5.493 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 5.493 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 5.493 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.493 * [backup-simplify]: Simplify 0.5 into 0.5 5.494 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 5.494 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.494 * [backup-simplify]: Simplify phi1 into phi1 5.494 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.494 * [backup-simplify]: Simplify phi2 into phi2 5.494 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.494 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.494 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.494 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.494 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.494 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.494 * [backup-simplify]: Simplify (- 0) into 0 5.494 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.494 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda1 5.494 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 5.494 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.494 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.494 * [backup-simplify]: Simplify 0 into 0 5.494 * [backup-simplify]: Simplify 1 into 1 5.494 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 5.494 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 5.494 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 5.494 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.494 * [backup-simplify]: Simplify 0.5 into 0.5 5.494 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 5.494 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.495 * [backup-simplify]: Simplify phi1 into phi1 5.495 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.495 * [backup-simplify]: Simplify phi2 into phi2 5.495 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.495 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.495 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.495 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.495 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.495 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.495 * [backup-simplify]: Simplify (- 0) into 0 5.495 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.495 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda1 5.495 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.495 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.495 * [backup-simplify]: Simplify phi1 into phi1 5.495 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.495 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.495 * [backup-simplify]: Simplify phi2 into phi2 5.495 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda1 5.495 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda1 5.495 * [taylor]: Taking taylor expansion of 2 in lambda1 5.495 * [backup-simplify]: Simplify 2 into 2 5.495 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 5.495 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.495 * [backup-simplify]: Simplify phi1 into phi1 5.495 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.495 * [backup-simplify]: Simplify phi2 into phi2 5.495 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda1 5.496 * [taylor]: Taking taylor expansion of 2 in lambda1 5.496 * [backup-simplify]: Simplify 2 into 2 5.496 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda1 5.496 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.496 * [backup-simplify]: Simplify lambda2 into lambda2 5.496 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 5.496 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.496 * [backup-simplify]: Simplify 0 into 0 5.496 * [backup-simplify]: Simplify 1 into 1 5.496 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 5.496 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 5.496 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 5.496 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.496 * [backup-simplify]: Simplify 0.5 into 0.5 5.496 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 5.496 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.496 * [backup-simplify]: Simplify phi1 into phi1 5.496 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.496 * [backup-simplify]: Simplify phi2 into phi2 5.496 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.496 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.496 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.496 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.496 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.496 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.496 * [backup-simplify]: Simplify (- 0) into 0 5.496 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.497 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.497 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.497 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.497 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.497 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.497 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.497 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 5.498 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 5.498 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.498 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 5.498 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.498 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 5.498 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.498 * [backup-simplify]: Simplify (* 2 0) into 0 5.498 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 5.498 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 5.499 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) 5.499 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) 5.500 * [backup-simplify]: Simplify (+ 0) into 0 5.500 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 5.500 * [backup-simplify]: Simplify (+ 0 0) into 0 5.501 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 5.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.501 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 5.502 * [backup-simplify]: Simplify (- 0) into 0 5.502 * [backup-simplify]: Simplify (+ 0 0) into 0 5.502 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 5.502 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.502 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 5.502 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.502 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.503 * [backup-simplify]: Simplify (+ 0 0) into 0 5.503 * [backup-simplify]: Simplify (+ 0 0) into 0 5.503 * [backup-simplify]: Simplify (+ 0 0) into 0 5.503 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 5.504 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 5.504 * [backup-simplify]: Simplify (+ 0) into 0 5.504 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 5.504 * [backup-simplify]: Simplify (+ 0 0) into 0 5.505 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 5.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.505 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 5.506 * [backup-simplify]: Simplify (- 0) into 0 5.506 * [backup-simplify]: Simplify (+ 0 0) into 0 5.506 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 5.506 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.507 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.507 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 5.508 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 5.508 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 5.508 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 5.509 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 5.509 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 5.509 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 5.509 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 5.509 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.509 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.509 * [backup-simplify]: Simplify phi2 into phi2 5.509 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 5.509 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.509 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.509 * [backup-simplify]: Simplify phi1 into phi1 5.509 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 5.509 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.509 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.509 * [backup-simplify]: Simplify 0 into 0 5.509 * [backup-simplify]: Simplify 1 into 1 5.509 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.509 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.509 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.509 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.509 * [backup-simplify]: Simplify 0.5 into 0.5 5.509 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.509 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.509 * [backup-simplify]: Simplify phi1 into phi1 5.509 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.509 * [backup-simplify]: Simplify phi2 into phi2 5.509 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.509 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.509 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.509 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.510 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.510 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.510 * [backup-simplify]: Simplify (- 0) into 0 5.510 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.510 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 5.510 * [taylor]: Taking taylor expansion of 2 in lambda2 5.510 * [backup-simplify]: Simplify 2 into 2 5.510 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 5.510 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.510 * [backup-simplify]: Simplify phi1 into phi1 5.510 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.510 * [backup-simplify]: Simplify phi2 into phi2 5.510 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.510 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.510 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 5.510 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.510 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.511 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 5.511 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 5.511 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 5.511 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 5.511 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.511 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.511 * [backup-simplify]: Simplify (+ 0 0) into 0 5.512 * [backup-simplify]: Simplify (+ 0 0) into 0 5.512 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 5.512 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 5.512 * [backup-simplify]: Simplify (- 0) into 0 5.512 * [backup-simplify]: Simplify (+ 0 0) into 0 5.513 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0 5.513 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 5.513 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 5.513 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.513 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.513 * [taylor]: Taking taylor expansion of phi2 in phi1 5.513 * [backup-simplify]: Simplify phi2 into phi2 5.513 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.513 * [taylor]: Taking taylor expansion of phi1 in phi1 5.513 * [backup-simplify]: Simplify 0 into 0 5.513 * [backup-simplify]: Simplify 1 into 1 5.513 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 5.513 * [taylor]: Taking taylor expansion of 2 in phi1 5.513 * [backup-simplify]: Simplify 2 into 2 5.513 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 5.513 * [taylor]: Taking taylor expansion of phi1 in phi1 5.513 * [backup-simplify]: Simplify 0 into 0 5.513 * [backup-simplify]: Simplify 1 into 1 5.513 * [taylor]: Taking taylor expansion of phi2 in phi1 5.513 * [backup-simplify]: Simplify phi2 into phi2 5.513 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.513 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.513 * [backup-simplify]: Simplify (* 0 phi2) into 0 5.514 * [backup-simplify]: Simplify (* 2 0) into 0 5.514 * [backup-simplify]: Simplify (- 0) into 0 5.514 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.514 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 5.514 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.514 * [backup-simplify]: Simplify (+ 0 0) into 0 5.515 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 5.515 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.515 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.515 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.515 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 5.515 * [taylor]: Taking taylor expansion of phi2 in phi2 5.515 * [backup-simplify]: Simplify 0 into 0 5.515 * [backup-simplify]: Simplify 1 into 1 5.515 * [backup-simplify]: Simplify 0 into 0 5.515 * [taylor]: Taking taylor expansion of (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2 5.515 * [taylor]: Taking taylor expansion of -1 in lambda2 5.515 * [backup-simplify]: Simplify -1 into -1 5.515 * [taylor]: Taking taylor expansion of (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2 5.515 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 5.515 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.515 * [backup-simplify]: Simplify 0 into 0 5.515 * [backup-simplify]: Simplify 1 into 1 5.516 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.516 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.516 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.516 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.516 * [backup-simplify]: Simplify 0.5 into 0.5 5.516 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.516 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.516 * [backup-simplify]: Simplify phi1 into phi1 5.516 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.516 * [backup-simplify]: Simplify phi2 into phi2 5.516 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.516 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.516 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.516 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.516 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.516 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.516 * [backup-simplify]: Simplify (- 0) into 0 5.516 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.516 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 5.516 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 5.516 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 5.516 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 5.516 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.516 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.516 * [backup-simplify]: Simplify phi2 into phi2 5.516 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 5.517 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.517 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.517 * [backup-simplify]: Simplify phi1 into phi1 5.517 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 5.517 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.517 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.517 * [backup-simplify]: Simplify 0 into 0 5.517 * [backup-simplify]: Simplify 1 into 1 5.517 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.517 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.517 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.517 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.517 * [backup-simplify]: Simplify 0.5 into 0.5 5.517 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.517 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.517 * [backup-simplify]: Simplify phi1 into phi1 5.517 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.517 * [backup-simplify]: Simplify phi2 into phi2 5.517 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.517 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.517 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.517 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.517 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.517 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.517 * [backup-simplify]: Simplify (- 0) into 0 5.517 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.517 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 5.517 * [taylor]: Taking taylor expansion of 2 in lambda2 5.518 * [backup-simplify]: Simplify 2 into 2 5.518 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 5.518 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.518 * [backup-simplify]: Simplify phi1 into phi1 5.518 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.518 * [backup-simplify]: Simplify phi2 into phi2 5.518 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.518 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.518 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 5.518 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.518 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.518 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 5.518 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 5.518 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 5.518 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 5.519 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) 5.519 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.519 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.519 * [backup-simplify]: Simplify (+ 0 0) into 0 5.519 * [backup-simplify]: Simplify (+ 0 0) into 0 5.519 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 5.520 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 5.520 * [backup-simplify]: Simplify (- 0) into 0 5.520 * [backup-simplify]: Simplify (+ 0 0) into 0 5.521 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 5.521 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 5.521 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.521 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 5.522 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0 5.522 * [backup-simplify]: Simplify (* -1 0) into 0 5.522 * [taylor]: Taking taylor expansion of 0 in phi1 5.522 * [backup-simplify]: Simplify 0 into 0 5.522 * [taylor]: Taking taylor expansion of 0 in phi2 5.522 * [backup-simplify]: Simplify 0 into 0 5.522 * [backup-simplify]: Simplify 0 into 0 5.522 * [taylor]: Taking taylor expansion of 0 in phi1 5.522 * [backup-simplify]: Simplify 0 into 0 5.522 * [taylor]: Taking taylor expansion of 0 in phi2 5.522 * [backup-simplify]: Simplify 0 into 0 5.522 * [backup-simplify]: Simplify 0 into 0 5.522 * [taylor]: Taking taylor expansion of -1 in phi2 5.522 * [backup-simplify]: Simplify -1 into -1 5.522 * [backup-simplify]: Simplify -1 into -1 5.523 * [backup-simplify]: Simplify 1 into 1 5.524 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.524 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0 5.524 * [backup-simplify]: Simplify (+ 0 0) into 0 5.525 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0 5.525 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.526 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0 5.526 * [backup-simplify]: Simplify (- 0) into 0 5.526 * [backup-simplify]: Simplify (+ 0 0) into 0 5.526 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0 5.527 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 5.527 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into 0 5.527 * [backup-simplify]: Simplify (* 1 1) into 1 5.528 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.528 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.528 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 5.528 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 5.529 * [backup-simplify]: Simplify (+ 0 0) into 0 5.529 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.529 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.529 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0 5.530 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0 5.530 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.531 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0 5.531 * [backup-simplify]: Simplify (+ 0 0) into 0 5.531 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0 5.532 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.532 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0 5.533 * [backup-simplify]: Simplify (- 0) into 0 5.533 * [backup-simplify]: Simplify (+ 0 0) into 0 5.533 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0 5.534 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into 0 5.534 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0))) into 0 5.535 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0))) into 0 5.535 * [backup-simplify]: Simplify (+ 0 0) into 0 5.535 * [backup-simplify]: Simplify (- 0) into 0 5.536 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.537 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 5.537 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2 5.537 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.537 * [backup-simplify]: Simplify 1/2 into 1/2 5.537 * [taylor]: Taking taylor expansion of (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2 5.538 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 5.538 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.538 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.538 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.538 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.538 * [backup-simplify]: Simplify 0.5 into 0.5 5.538 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.538 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.538 * [backup-simplify]: Simplify phi1 into phi1 5.538 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.538 * [backup-simplify]: Simplify phi2 into phi2 5.538 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.538 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.538 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.538 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.538 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.538 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.538 * [backup-simplify]: Simplify (- 0) into 0 5.538 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.538 * [taylor]: Taking taylor expansion of (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 5.539 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) in lambda2 5.539 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.539 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.539 * [backup-simplify]: Simplify 0 into 0 5.539 * [backup-simplify]: Simplify 1 into 1 5.539 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 4) in lambda2 5.539 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.539 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.539 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.539 * [backup-simplify]: Simplify 0.5 into 0.5 5.539 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.539 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.539 * [backup-simplify]: Simplify phi1 into phi1 5.539 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.539 * [backup-simplify]: Simplify phi2 into phi2 5.539 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.539 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.539 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.539 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.539 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.539 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.539 * [backup-simplify]: Simplify (- 0) into 0 5.539 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.540 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 5.540 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 5.540 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.540 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.540 * [backup-simplify]: Simplify phi2 into phi2 5.540 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 5.540 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.540 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.540 * [backup-simplify]: Simplify phi1 into phi1 5.540 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 5.540 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.540 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.540 * [backup-simplify]: Simplify 0 into 0 5.540 * [backup-simplify]: Simplify 1 into 1 5.540 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.540 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.540 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.540 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.540 * [backup-simplify]: Simplify 0.5 into 0.5 5.540 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.540 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.540 * [backup-simplify]: Simplify phi1 into phi1 5.540 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.540 * [backup-simplify]: Simplify phi2 into phi2 5.540 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.540 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.540 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.540 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.540 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.540 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.541 * [backup-simplify]: Simplify (- 0) into 0 5.541 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.541 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 5.541 * [taylor]: Taking taylor expansion of 2 in lambda2 5.541 * [backup-simplify]: Simplify 2 into 2 5.541 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 5.541 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.541 * [backup-simplify]: Simplify phi1 into phi1 5.541 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.541 * [backup-simplify]: Simplify phi2 into phi2 5.541 * [backup-simplify]: Simplify (* 1 1) into 1 5.541 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.541 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4) 5.542 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 4)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4) 5.542 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.542 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.542 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 5.542 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.542 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.542 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 5.542 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 5.542 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 5.543 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 5.543 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 5.543 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 5.543 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 5.543 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 5.543 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.543 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.543 * [backup-simplify]: Simplify phi2 into phi2 5.543 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 5.543 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.543 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.543 * [backup-simplify]: Simplify phi1 into phi1 5.543 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 5.543 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.543 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.543 * [backup-simplify]: Simplify 0 into 0 5.543 * [backup-simplify]: Simplify 1 into 1 5.543 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.543 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.543 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.543 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.543 * [backup-simplify]: Simplify 0.5 into 0.5 5.543 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.543 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.543 * [backup-simplify]: Simplify phi1 into phi1 5.543 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.543 * [backup-simplify]: Simplify phi2 into phi2 5.543 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.543 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.543 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.543 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.543 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.543 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.544 * [backup-simplify]: Simplify (- 0) into 0 5.544 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.544 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 5.544 * [taylor]: Taking taylor expansion of 2 in lambda2 5.544 * [backup-simplify]: Simplify 2 into 2 5.544 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 5.544 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.544 * [backup-simplify]: Simplify phi1 into phi1 5.544 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.544 * [backup-simplify]: Simplify phi2 into phi2 5.544 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.544 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.544 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 5.544 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 5.544 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.544 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 5.544 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 5.545 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 5.545 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 5.545 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) 5.545 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.545 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.546 * [backup-simplify]: Simplify (+ 0 0) into 0 5.546 * [backup-simplify]: Simplify (+ 0 0) into 0 5.546 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 5.546 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 5.546 * [backup-simplify]: Simplify (- 0) into 0 5.547 * [backup-simplify]: Simplify (+ 0 0) into 0 5.547 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 5.547 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 5.548 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.548 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.548 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.549 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 5.549 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 5.549 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.549 * [backup-simplify]: Simplify 1/2 into 1/2 5.549 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 5.549 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 5.549 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 5.549 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 5.549 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.549 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.549 * [taylor]: Taking taylor expansion of phi2 in phi1 5.549 * [backup-simplify]: Simplify phi2 into phi2 5.549 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.549 * [taylor]: Taking taylor expansion of phi1 in phi1 5.549 * [backup-simplify]: Simplify 0 into 0 5.549 * [backup-simplify]: Simplify 1 into 1 5.549 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 5.549 * [taylor]: Taking taylor expansion of 2 in phi1 5.549 * [backup-simplify]: Simplify 2 into 2 5.549 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 5.549 * [taylor]: Taking taylor expansion of phi1 in phi1 5.549 * [backup-simplify]: Simplify 0 into 0 5.549 * [backup-simplify]: Simplify 1 into 1 5.549 * [taylor]: Taking taylor expansion of phi2 in phi1 5.549 * [backup-simplify]: Simplify phi2 into phi2 5.549 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.549 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.549 * [backup-simplify]: Simplify (* 0 phi2) into 0 5.549 * [backup-simplify]: Simplify (* 2 0) into 0 5.550 * [backup-simplify]: Simplify (- 0) into 0 5.550 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.550 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.550 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 5.550 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.550 * [backup-simplify]: Simplify (+ 0 0) into 0 5.550 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 5.551 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.551 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.551 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.551 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 5.551 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 5.551 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 5.551 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.551 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.551 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.551 * [backup-simplify]: Simplify 0.5 into 0.5 5.551 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.551 * [taylor]: Taking taylor expansion of phi1 in phi1 5.551 * [backup-simplify]: Simplify 0 into 0 5.551 * [backup-simplify]: Simplify 1 into 1 5.551 * [taylor]: Taking taylor expansion of phi2 in phi1 5.551 * [backup-simplify]: Simplify phi2 into phi2 5.551 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.552 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.552 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.552 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.552 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.552 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.552 * [backup-simplify]: Simplify (- 0) into 0 5.552 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.552 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.552 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 5.552 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 5.552 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 5.552 * [taylor]: Taking taylor expansion of 1/2 in phi2 5.553 * [backup-simplify]: Simplify 1/2 into 1/2 5.553 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 5.553 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.553 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.553 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.553 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.553 * [backup-simplify]: Simplify 0.5 into 0.5 5.553 * [taylor]: Taking taylor expansion of phi2 in phi2 5.553 * [backup-simplify]: Simplify 0 into 0 5.553 * [backup-simplify]: Simplify 1 into 1 5.553 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.554 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.554 * [taylor]: Taking taylor expansion of phi2 in phi2 5.554 * [backup-simplify]: Simplify 0 into 0 5.554 * [backup-simplify]: Simplify 1 into 1 5.554 * [backup-simplify]: Simplify (* 1 1) into 1 5.554 * [backup-simplify]: Simplify (/ 1 1) into 1 5.555 * [backup-simplify]: Simplify (+ 0) into 0 5.555 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.555 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 5.556 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 5.556 * [backup-simplify]: Simplify 0 into 0 5.556 * [backup-simplify]: Simplify (+ 0) into 0 5.556 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 5.557 * [backup-simplify]: Simplify (+ 0 0) into 0 5.557 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 5.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.558 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 5.558 * [backup-simplify]: Simplify (- 0) into 0 5.558 * [backup-simplify]: Simplify (+ 0 0) into 0 5.558 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 5.559 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.560 * [backup-simplify]: Simplify (+ (* 0 0) (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.560 * [backup-simplify]: Simplify (+ (* -1 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 5.560 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 5.560 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 5.560 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 5.560 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 5.560 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 5.560 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.560 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.560 * [taylor]: Taking taylor expansion of phi2 in phi1 5.560 * [backup-simplify]: Simplify phi2 into phi2 5.560 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.560 * [taylor]: Taking taylor expansion of phi1 in phi1 5.560 * [backup-simplify]: Simplify 0 into 0 5.560 * [backup-simplify]: Simplify 1 into 1 5.560 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 5.560 * [taylor]: Taking taylor expansion of 2 in phi1 5.561 * [backup-simplify]: Simplify 2 into 2 5.561 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 5.561 * [taylor]: Taking taylor expansion of phi1 in phi1 5.561 * [backup-simplify]: Simplify 0 into 0 5.561 * [backup-simplify]: Simplify 1 into 1 5.561 * [taylor]: Taking taylor expansion of phi2 in phi1 5.561 * [backup-simplify]: Simplify phi2 into phi2 5.561 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.561 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.561 * [backup-simplify]: Simplify (* 0 phi2) into 0 5.561 * [backup-simplify]: Simplify (* 2 0) into 0 5.561 * [backup-simplify]: Simplify (- 0) into 0 5.561 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.561 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.562 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 5.562 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.562 * [backup-simplify]: Simplify (+ 0 0) into 0 5.562 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 5.562 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.562 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.562 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.563 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 5.563 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 5.563 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 5.563 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.563 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.563 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.563 * [backup-simplify]: Simplify 0.5 into 0.5 5.563 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.563 * [taylor]: Taking taylor expansion of phi1 in phi1 5.563 * [backup-simplify]: Simplify 0 into 0 5.563 * [backup-simplify]: Simplify 1 into 1 5.563 * [taylor]: Taking taylor expansion of phi2 in phi1 5.563 * [backup-simplify]: Simplify phi2 into phi2 5.563 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.563 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.563 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.564 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.564 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.564 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.564 * [backup-simplify]: Simplify (- 0) into 0 5.564 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.564 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.565 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 5.565 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 5.565 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 5.565 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 5.565 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.565 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.565 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.565 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.565 * [backup-simplify]: Simplify 0.5 into 0.5 5.565 * [taylor]: Taking taylor expansion of phi2 in phi2 5.565 * [backup-simplify]: Simplify 0 into 0 5.565 * [backup-simplify]: Simplify 1 into 1 5.565 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.566 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.566 * [taylor]: Taking taylor expansion of phi2 in phi2 5.566 * [backup-simplify]: Simplify 0 into 0 5.566 * [backup-simplify]: Simplify 1 into 1 5.566 * [backup-simplify]: Simplify (* 1 1) into 1 5.567 * [backup-simplify]: Simplify (/ 1 1) into 1 5.567 * [backup-simplify]: Simplify (+ 0) into 0 5.567 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.568 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 5.568 * [backup-simplify]: Simplify (- 0) into 0 5.568 * [backup-simplify]: Simplify 0 into 0 5.568 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 5.568 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 5.569 * [backup-simplify]: Simplify (* 1 1) into 1 5.569 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.569 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.569 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.569 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.570 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0 5.570 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0 5.570 * [backup-simplify]: Simplify (- 0) into 0 5.571 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.571 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow 0 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 5.571 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 5.572 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.572 * [backup-simplify]: Simplify 1/2 into 1/2 5.572 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 5.572 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 5.572 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 5.572 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 5.572 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 5.572 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.572 * [taylor]: Taking taylor expansion of phi2 in phi1 5.572 * [backup-simplify]: Simplify phi2 into phi2 5.572 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.572 * [taylor]: Taking taylor expansion of phi1 in phi1 5.572 * [backup-simplify]: Simplify 0 into 0 5.572 * [backup-simplify]: Simplify 1 into 1 5.572 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 5.572 * [taylor]: Taking taylor expansion of 2 in phi1 5.572 * [backup-simplify]: Simplify 2 into 2 5.572 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 5.572 * [taylor]: Taking taylor expansion of phi1 in phi1 5.572 * [backup-simplify]: Simplify 0 into 0 5.572 * [backup-simplify]: Simplify 1 into 1 5.572 * [taylor]: Taking taylor expansion of phi2 in phi1 5.572 * [backup-simplify]: Simplify phi2 into phi2 5.572 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.572 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.572 * [backup-simplify]: Simplify (* 0 phi2) into 0 5.572 * [backup-simplify]: Simplify (* 2 0) into 0 5.573 * [backup-simplify]: Simplify (- 0) into 0 5.573 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 5.573 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.573 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 5.573 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.573 * [backup-simplify]: Simplify (+ 0 0) into 0 5.574 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 5.574 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 5.574 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 5.574 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 5.574 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 5.574 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 5.574 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 5.574 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.574 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.574 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.575 * [backup-simplify]: Simplify 0.5 into 0.5 5.575 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.575 * [taylor]: Taking taylor expansion of phi1 in phi1 5.575 * [backup-simplify]: Simplify 0 into 0 5.575 * [backup-simplify]: Simplify 1 into 1 5.575 * [taylor]: Taking taylor expansion of phi2 in phi1 5.575 * [backup-simplify]: Simplify phi2 into phi2 5.575 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.575 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.575 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.575 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.575 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.575 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.575 * [backup-simplify]: Simplify (- 0) into 0 5.575 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.575 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.575 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 5.576 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 5.576 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 5.576 * [taylor]: Taking taylor expansion of 1/2 in phi2 5.576 * [backup-simplify]: Simplify 1/2 into 1/2 5.576 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 5.576 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.576 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.576 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.576 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.576 * [backup-simplify]: Simplify 0.5 into 0.5 5.576 * [taylor]: Taking taylor expansion of phi2 in phi2 5.576 * [backup-simplify]: Simplify 0 into 0 5.576 * [backup-simplify]: Simplify 1 into 1 5.576 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.577 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.577 * [taylor]: Taking taylor expansion of phi2 in phi2 5.577 * [backup-simplify]: Simplify 0 into 0 5.577 * [backup-simplify]: Simplify 1 into 1 5.577 * [backup-simplify]: Simplify (* 1 1) into 1 5.577 * [backup-simplify]: Simplify (/ 1 1) into 1 5.578 * [backup-simplify]: Simplify (+ 0) into 0 5.578 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.579 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 5.581 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 5.581 * [backup-simplify]: Simplify 0 into 0 5.581 * [taylor]: Taking taylor expansion of 0 in phi2 5.581 * [backup-simplify]: Simplify 0 into 0 5.581 * [backup-simplify]: Simplify 0 into 0 5.581 * [taylor]: Taking taylor expansion of 0 in phi2 5.581 * [backup-simplify]: Simplify 0 into 0 5.581 * [backup-simplify]: Simplify 0 into 0 5.581 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 5.582 * [backup-simplify]: Simplify (* 1 1) into 1 5.582 * [backup-simplify]: Simplify (+ 0 1) into 1 5.582 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi2))) into 0 5.583 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 5.583 * [backup-simplify]: Simplify (- 0) into 0 5.583 * [backup-simplify]: Simplify (+ 1 0) into 1 5.584 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 5.584 * [taylor]: Taking taylor expansion of 0 in phi2 5.584 * [backup-simplify]: Simplify 0 into 0 5.584 * [backup-simplify]: Simplify 0 into 0 5.585 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 5.585 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) 5.585 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in (lambda1 lambda2 phi1 phi2) around 0 5.585 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in phi2 5.585 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in phi2 5.585 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in phi2 5.585 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 5.585 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.586 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.586 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.586 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.586 * [backup-simplify]: Simplify 0.5 into 0.5 5.586 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.586 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.586 * [taylor]: Taking taylor expansion of phi1 in phi2 5.586 * [backup-simplify]: Simplify phi1 into phi1 5.586 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.586 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.586 * [taylor]: Taking taylor expansion of phi2 in phi2 5.586 * [backup-simplify]: Simplify 0 into 0 5.586 * [backup-simplify]: Simplify 1 into 1 5.586 * [backup-simplify]: Simplify (/ 1 1) into 1 5.586 * [backup-simplify]: Simplify (+ 0 1) into 1 5.587 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.587 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.587 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 5.587 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.587 * [backup-simplify]: Simplify lambda1 into lambda1 5.587 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.587 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.587 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.587 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in phi2 5.587 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 5.587 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.587 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.587 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.587 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.587 * [backup-simplify]: Simplify 0.5 into 0.5 5.587 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.587 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.587 * [taylor]: Taking taylor expansion of phi1 in phi2 5.588 * [backup-simplify]: Simplify phi1 into phi1 5.588 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.588 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.588 * [taylor]: Taking taylor expansion of phi2 in phi2 5.588 * [backup-simplify]: Simplify 0 into 0 5.588 * [backup-simplify]: Simplify 1 into 1 5.588 * [backup-simplify]: Simplify (/ 1 1) into 1 5.588 * [backup-simplify]: Simplify (+ 0 1) into 1 5.588 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.589 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.589 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 5.589 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.589 * [backup-simplify]: Simplify lambda2 into lambda2 5.589 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.589 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.589 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.589 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in phi2 5.589 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 5.589 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 5.589 * [taylor]: Taking taylor expansion of phi1 in phi2 5.589 * [backup-simplify]: Simplify phi1 into phi1 5.589 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.589 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.589 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 5.589 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 5.589 * [taylor]: Taking taylor expansion of phi2 in phi2 5.589 * [backup-simplify]: Simplify 0 into 0 5.589 * [backup-simplify]: Simplify 1 into 1 5.590 * [backup-simplify]: Simplify (* 1 1) into 1 5.590 * [backup-simplify]: Simplify (/ 1 1) into 1 5.590 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in phi2 5.590 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2 5.590 * [taylor]: Taking taylor expansion of 2 in phi2 5.590 * [backup-simplify]: Simplify 2 into 2 5.590 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2 5.590 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 5.590 * [taylor]: Taking taylor expansion of phi1 in phi2 5.590 * [backup-simplify]: Simplify phi1 into phi1 5.590 * [taylor]: Taking taylor expansion of phi2 in phi2 5.590 * [backup-simplify]: Simplify 0 into 0 5.590 * [backup-simplify]: Simplify 1 into 1 5.590 * [backup-simplify]: Simplify (* phi1 0) into 0 5.590 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 5.590 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.590 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in phi2 5.590 * [taylor]: Taking taylor expansion of 2 in phi2 5.590 * [backup-simplify]: Simplify 2 into 2 5.590 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in phi2 5.590 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.590 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.590 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.590 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.590 * [backup-simplify]: Simplify 0.5 into 0.5 5.590 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.590 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.590 * [taylor]: Taking taylor expansion of phi1 in phi2 5.591 * [backup-simplify]: Simplify phi1 into phi1 5.591 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.591 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.591 * [taylor]: Taking taylor expansion of phi2 in phi2 5.591 * [backup-simplify]: Simplify 0 into 0 5.591 * [backup-simplify]: Simplify 1 into 1 5.591 * [backup-simplify]: Simplify (/ 1 1) into 1 5.591 * [backup-simplify]: Simplify (+ 0 1) into 1 5.591 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.591 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.592 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in phi2 5.592 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.592 * [backup-simplify]: Simplify lambda1 into lambda1 5.592 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.592 * [backup-simplify]: Simplify lambda2 into lambda2 5.592 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.592 * [backup-simplify]: Simplify (* lambda1 lambda2) into (* lambda2 lambda1) 5.592 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) 5.592 * [backup-simplify]: Simplify (+ 0 1) into 1 5.593 * [backup-simplify]: Simplify (+ 0 1) into 1 5.593 * [backup-simplify]: Simplify (+ 0 1) into 1 5.593 * [backup-simplify]: Simplify (+ 1 0) into 1 5.593 * [backup-simplify]: Simplify (sqrt 1) into 1 5.594 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.594 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.594 * [backup-simplify]: Simplify (+ 0 0) into 0 5.595 * [backup-simplify]: Simplify (+ 0 0) into 0 5.595 * [backup-simplify]: Simplify (+ 0 0) into 0 5.595 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 5.595 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 5.595 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 5.595 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 5.595 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 5.596 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in phi1 5.596 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in phi1 5.596 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in phi1 5.596 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 5.596 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.596 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.596 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.596 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.596 * [backup-simplify]: Simplify 0.5 into 0.5 5.596 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.596 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.596 * [taylor]: Taking taylor expansion of phi1 in phi1 5.596 * [backup-simplify]: Simplify 0 into 0 5.596 * [backup-simplify]: Simplify 1 into 1 5.596 * [backup-simplify]: Simplify (/ 1 1) into 1 5.596 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.596 * [taylor]: Taking taylor expansion of phi2 in phi1 5.596 * [backup-simplify]: Simplify phi2 into phi2 5.596 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.596 * [backup-simplify]: Simplify (+ 1 0) into 1 5.597 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.597 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.597 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 5.597 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.597 * [backup-simplify]: Simplify lambda1 into lambda1 5.597 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.597 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.597 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.597 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in phi1 5.597 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 5.597 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.597 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.597 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.597 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.597 * [backup-simplify]: Simplify 0.5 into 0.5 5.597 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.597 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.597 * [taylor]: Taking taylor expansion of phi1 in phi1 5.597 * [backup-simplify]: Simplify 0 into 0 5.598 * [backup-simplify]: Simplify 1 into 1 5.598 * [backup-simplify]: Simplify (/ 1 1) into 1 5.598 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.598 * [taylor]: Taking taylor expansion of phi2 in phi1 5.598 * [backup-simplify]: Simplify phi2 into phi2 5.598 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.598 * [backup-simplify]: Simplify (+ 1 0) into 1 5.598 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.598 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.599 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 5.599 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.599 * [backup-simplify]: Simplify lambda2 into lambda2 5.599 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.599 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.599 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.599 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in phi1 5.599 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.599 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.599 * [taylor]: Taking taylor expansion of phi1 in phi1 5.599 * [backup-simplify]: Simplify 0 into 0 5.599 * [backup-simplify]: Simplify 1 into 1 5.599 * [backup-simplify]: Simplify (* 1 1) into 1 5.600 * [backup-simplify]: Simplify (/ 1 1) into 1 5.600 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.600 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.600 * [taylor]: Taking taylor expansion of phi2 in phi1 5.600 * [backup-simplify]: Simplify phi2 into phi2 5.600 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.600 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.600 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in phi1 5.600 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 5.600 * [taylor]: Taking taylor expansion of 2 in phi1 5.600 * [backup-simplify]: Simplify 2 into 2 5.600 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 5.600 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 5.600 * [taylor]: Taking taylor expansion of phi1 in phi1 5.600 * [backup-simplify]: Simplify 0 into 0 5.600 * [backup-simplify]: Simplify 1 into 1 5.600 * [taylor]: Taking taylor expansion of phi2 in phi1 5.600 * [backup-simplify]: Simplify phi2 into phi2 5.600 * [backup-simplify]: Simplify (* 0 phi2) into 0 5.600 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 5.600 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.600 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in phi1 5.600 * [taylor]: Taking taylor expansion of 2 in phi1 5.600 * [backup-simplify]: Simplify 2 into 2 5.600 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in phi1 5.600 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.600 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.600 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.600 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.600 * [backup-simplify]: Simplify 0.5 into 0.5 5.600 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.600 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.600 * [taylor]: Taking taylor expansion of phi1 in phi1 5.601 * [backup-simplify]: Simplify 0 into 0 5.601 * [backup-simplify]: Simplify 1 into 1 5.601 * [backup-simplify]: Simplify (/ 1 1) into 1 5.601 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.601 * [taylor]: Taking taylor expansion of phi2 in phi1 5.601 * [backup-simplify]: Simplify phi2 into phi2 5.601 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.601 * [backup-simplify]: Simplify (+ 1 0) into 1 5.601 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.601 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.602 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in phi1 5.602 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.602 * [backup-simplify]: Simplify lambda1 into lambda1 5.602 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.602 * [backup-simplify]: Simplify lambda2 into lambda2 5.602 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.602 * [backup-simplify]: Simplify (* lambda1 lambda2) into (* lambda2 lambda1) 5.602 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) 5.602 * [backup-simplify]: Simplify (+ 1 0) into 1 5.603 * [backup-simplify]: Simplify (+ 0 1) into 1 5.603 * [backup-simplify]: Simplify (+ 0 1) into 1 5.603 * [backup-simplify]: Simplify (+ 1 0) into 1 5.604 * [backup-simplify]: Simplify (sqrt 1) into 1 5.604 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.605 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.605 * [backup-simplify]: Simplify (+ 0 0) into 0 5.605 * [backup-simplify]: Simplify (+ 0 0) into 0 5.605 * [backup-simplify]: Simplify (+ 0 0) into 0 5.605 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.605 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 5.606 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 5.606 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.606 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 5.606 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda2 5.606 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda2 5.606 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda2 5.606 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 5.606 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.606 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.606 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.606 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.606 * [backup-simplify]: Simplify 0.5 into 0.5 5.606 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.606 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.606 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.606 * [backup-simplify]: Simplify phi1 into phi1 5.606 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.606 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.606 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.606 * [backup-simplify]: Simplify phi2 into phi2 5.606 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.606 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.606 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.607 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.607 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.607 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.607 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.607 * [backup-simplify]: Simplify (- 0) into 0 5.607 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.607 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 5.607 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.607 * [backup-simplify]: Simplify lambda1 into lambda1 5.608 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.608 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.608 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.608 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda2 5.608 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 5.608 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.608 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.608 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.608 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.608 * [backup-simplify]: Simplify 0.5 into 0.5 5.608 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.608 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.608 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.608 * [backup-simplify]: Simplify phi1 into phi1 5.608 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.608 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.608 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.608 * [backup-simplify]: Simplify phi2 into phi2 5.608 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.608 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.608 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.608 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.608 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.609 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.609 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.609 * [backup-simplify]: Simplify (- 0) into 0 5.609 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.609 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.609 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.609 * [backup-simplify]: Simplify 0 into 0 5.609 * [backup-simplify]: Simplify 1 into 1 5.609 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.610 * [backup-simplify]: Simplify (* 1 1) into 1 5.610 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.610 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2 5.610 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 5.610 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.610 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.610 * [backup-simplify]: Simplify phi1 into phi1 5.610 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.610 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.610 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.610 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.610 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.610 * [backup-simplify]: Simplify phi2 into phi2 5.610 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.610 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.610 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda2 5.610 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 5.610 * [taylor]: Taking taylor expansion of 2 in lambda2 5.610 * [backup-simplify]: Simplify 2 into 2 5.610 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 5.610 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 5.610 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.610 * [backup-simplify]: Simplify phi1 into phi1 5.610 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.610 * [backup-simplify]: Simplify phi2 into phi2 5.610 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.610 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 5.610 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda2 5.610 * [taylor]: Taking taylor expansion of 2 in lambda2 5.610 * [backup-simplify]: Simplify 2 into 2 5.610 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda2 5.610 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.610 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.610 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.610 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.610 * [backup-simplify]: Simplify 0.5 into 0.5 5.611 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.611 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.611 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.611 * [backup-simplify]: Simplify phi1 into phi1 5.611 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.611 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.611 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.611 * [backup-simplify]: Simplify phi2 into phi2 5.611 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.611 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.611 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.611 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.611 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.611 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.611 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.611 * [backup-simplify]: Simplify (- 0) into 0 5.612 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.612 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda2 5.612 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.612 * [backup-simplify]: Simplify lambda1 into lambda1 5.612 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.612 * [backup-simplify]: Simplify 0 into 0 5.612 * [backup-simplify]: Simplify 1 into 1 5.612 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.612 * [backup-simplify]: Simplify (* lambda1 0) into 0 5.612 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 5.612 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 5.613 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.613 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.613 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.613 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.613 * [backup-simplify]: Simplify (+ 0) into 0 5.614 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.614 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.614 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.614 * [backup-simplify]: Simplify (+ 0 0) into 0 5.615 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.615 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.616 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.616 * [backup-simplify]: Simplify (- 0) into 0 5.616 * [backup-simplify]: Simplify (+ 0 0) into 0 5.616 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.617 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.617 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.618 * [backup-simplify]: Simplify (+ 0 0) into 0 5.618 * [backup-simplify]: Simplify (+ 0 0) into 0 5.618 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.618 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.619 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.619 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.619 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 5.619 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda1 5.619 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda1 5.619 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda1 5.619 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 5.619 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.619 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.619 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.619 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.619 * [backup-simplify]: Simplify 0.5 into 0.5 5.619 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.620 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.620 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.620 * [backup-simplify]: Simplify phi1 into phi1 5.620 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.620 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.620 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.620 * [backup-simplify]: Simplify phi2 into phi2 5.620 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.620 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.620 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.620 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.620 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.620 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.620 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.620 * [backup-simplify]: Simplify (- 0) into 0 5.621 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.621 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.621 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.621 * [backup-simplify]: Simplify 0 into 0 5.621 * [backup-simplify]: Simplify 1 into 1 5.621 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.621 * [backup-simplify]: Simplify (* 1 1) into 1 5.621 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.621 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda1 5.621 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 5.621 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.621 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.621 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.621 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.621 * [backup-simplify]: Simplify 0.5 into 0.5 5.621 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.621 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.621 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.621 * [backup-simplify]: Simplify phi1 into phi1 5.622 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.622 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.622 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.622 * [backup-simplify]: Simplify phi2 into phi2 5.622 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.622 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.622 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.622 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.622 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.622 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.622 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.622 * [backup-simplify]: Simplify (- 0) into 0 5.623 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.623 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.623 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.623 * [backup-simplify]: Simplify lambda2 into lambda2 5.623 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.623 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.623 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.623 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda1 5.623 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 5.623 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.623 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.623 * [backup-simplify]: Simplify phi1 into phi1 5.623 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.624 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.624 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 5.624 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.624 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.624 * [backup-simplify]: Simplify phi2 into phi2 5.624 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.624 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.624 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda1 5.624 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 5.624 * [taylor]: Taking taylor expansion of 2 in lambda1 5.624 * [backup-simplify]: Simplify 2 into 2 5.624 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 5.624 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 5.624 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.624 * [backup-simplify]: Simplify phi1 into phi1 5.624 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.624 * [backup-simplify]: Simplify phi2 into phi2 5.624 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.624 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 5.624 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda1 5.624 * [taylor]: Taking taylor expansion of 2 in lambda1 5.624 * [backup-simplify]: Simplify 2 into 2 5.624 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda1 5.624 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.624 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.624 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.624 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.624 * [backup-simplify]: Simplify 0.5 into 0.5 5.624 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.624 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.624 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.624 * [backup-simplify]: Simplify phi1 into phi1 5.624 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.624 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.624 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.624 * [backup-simplify]: Simplify phi2 into phi2 5.624 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.624 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.625 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.625 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.625 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.625 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.625 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.625 * [backup-simplify]: Simplify (- 0) into 0 5.625 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.625 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda1 5.625 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.626 * [backup-simplify]: Simplify 0 into 0 5.626 * [backup-simplify]: Simplify 1 into 1 5.626 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.626 * [backup-simplify]: Simplify lambda2 into lambda2 5.626 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.626 * [backup-simplify]: Simplify (* 0 lambda2) into 0 5.626 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda2)) into lambda2 5.627 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 5.627 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.627 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.627 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.627 * [backup-simplify]: Simplify (+ 0) into 0 5.628 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.628 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.628 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.628 * [backup-simplify]: Simplify (+ 0 0) into 0 5.629 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.629 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.629 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.630 * [backup-simplify]: Simplify (- 0) into 0 5.630 * [backup-simplify]: Simplify (+ 0 0) into 0 5.630 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.630 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.631 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.631 * [backup-simplify]: Simplify (+ 0 0) into 0 5.632 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.632 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.632 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.632 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.633 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.633 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda1 5.633 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda1 5.633 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda1 5.633 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 5.633 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.633 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.633 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.633 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.633 * [backup-simplify]: Simplify 0.5 into 0.5 5.633 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.633 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.633 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.633 * [backup-simplify]: Simplify phi1 into phi1 5.633 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.633 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.633 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.633 * [backup-simplify]: Simplify phi2 into phi2 5.633 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.633 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.633 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.633 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.634 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.634 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.634 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.634 * [backup-simplify]: Simplify (- 0) into 0 5.634 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.634 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.634 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.634 * [backup-simplify]: Simplify 0 into 0 5.634 * [backup-simplify]: Simplify 1 into 1 5.634 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.635 * [backup-simplify]: Simplify (* 1 1) into 1 5.635 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.635 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda1 5.635 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 5.635 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.635 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.635 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.635 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.635 * [backup-simplify]: Simplify 0.5 into 0.5 5.635 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.635 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.635 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.635 * [backup-simplify]: Simplify phi1 into phi1 5.635 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.635 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.635 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.635 * [backup-simplify]: Simplify phi2 into phi2 5.635 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.635 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.635 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.635 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.636 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.636 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.636 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.636 * [backup-simplify]: Simplify (- 0) into 0 5.636 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.636 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.636 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.636 * [backup-simplify]: Simplify lambda2 into lambda2 5.636 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.636 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.637 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.637 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda1 5.637 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 5.637 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.637 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.637 * [backup-simplify]: Simplify phi1 into phi1 5.637 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.637 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.637 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 5.637 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.637 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.637 * [backup-simplify]: Simplify phi2 into phi2 5.637 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.637 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.637 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda1 5.637 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 5.637 * [taylor]: Taking taylor expansion of 2 in lambda1 5.637 * [backup-simplify]: Simplify 2 into 2 5.637 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 5.637 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 5.637 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.637 * [backup-simplify]: Simplify phi1 into phi1 5.637 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.637 * [backup-simplify]: Simplify phi2 into phi2 5.637 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.637 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 5.637 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda1 5.637 * [taylor]: Taking taylor expansion of 2 in lambda1 5.637 * [backup-simplify]: Simplify 2 into 2 5.637 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda1 5.637 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.637 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.637 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.638 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.638 * [backup-simplify]: Simplify 0.5 into 0.5 5.638 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.638 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.638 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.638 * [backup-simplify]: Simplify phi1 into phi1 5.638 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.638 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.638 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.638 * [backup-simplify]: Simplify phi2 into phi2 5.638 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.638 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.638 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.638 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.638 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.638 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.638 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.639 * [backup-simplify]: Simplify (- 0) into 0 5.639 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.639 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda1 5.639 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.639 * [backup-simplify]: Simplify 0 into 0 5.639 * [backup-simplify]: Simplify 1 into 1 5.639 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.639 * [backup-simplify]: Simplify lambda2 into lambda2 5.639 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.639 * [backup-simplify]: Simplify (* 0 lambda2) into 0 5.640 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda2)) into lambda2 5.640 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 5.640 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.640 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.640 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.641 * [backup-simplify]: Simplify (+ 0) into 0 5.641 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.641 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.641 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.641 * [backup-simplify]: Simplify (+ 0 0) into 0 5.642 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.643 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.643 * [backup-simplify]: Simplify (- 0) into 0 5.643 * [backup-simplify]: Simplify (+ 0 0) into 0 5.644 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.644 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.645 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.645 * [backup-simplify]: Simplify (+ 0 0) into 0 5.645 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.646 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.646 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.646 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.647 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.647 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.647 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.647 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.647 * [backup-simplify]: Simplify 0.5 into 0.5 5.647 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.647 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.647 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.647 * [backup-simplify]: Simplify phi1 into phi1 5.647 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.647 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.647 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.647 * [backup-simplify]: Simplify phi2 into phi2 5.647 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.647 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.647 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.647 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.647 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.647 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 5.647 * [taylor]: Taking taylor expansion of -1 in lambda2 5.647 * [backup-simplify]: Simplify -1 into -1 5.647 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 5.647 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.648 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.648 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.648 * [backup-simplify]: Simplify 0.5 into 0.5 5.648 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.648 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.648 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.648 * [backup-simplify]: Simplify phi1 into phi1 5.648 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.648 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.648 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.648 * [backup-simplify]: Simplify phi2 into phi2 5.648 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.648 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.648 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.648 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.648 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.648 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.648 * [backup-simplify]: Simplify 0 into 0 5.648 * [backup-simplify]: Simplify 1 into 1 5.648 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.648 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.649 * [backup-simplify]: Simplify (- 0) into 0 5.649 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.649 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.649 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.649 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.649 * [taylor]: Taking taylor expansion of -1 in phi1 5.649 * [backup-simplify]: Simplify -1 into -1 5.649 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.649 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.649 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.649 * [backup-simplify]: Simplify 0.5 into 0.5 5.649 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.649 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.649 * [taylor]: Taking taylor expansion of phi1 in phi1 5.649 * [backup-simplify]: Simplify 0 into 0 5.649 * [backup-simplify]: Simplify 1 into 1 5.649 * [backup-simplify]: Simplify (/ 1 1) into 1 5.649 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.649 * [taylor]: Taking taylor expansion of phi2 in phi1 5.649 * [backup-simplify]: Simplify phi2 into phi2 5.650 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.650 * [backup-simplify]: Simplify (+ 1 0) into 1 5.650 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.650 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.650 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.650 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.651 * [backup-simplify]: Simplify (- 0) into 0 5.651 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.651 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.651 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.651 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.651 * [backup-simplify]: Simplify 0.5 into 0.5 5.651 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.651 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.651 * [taylor]: Taking taylor expansion of phi1 in phi1 5.651 * [backup-simplify]: Simplify 0 into 0 5.651 * [backup-simplify]: Simplify 1 into 1 5.651 * [backup-simplify]: Simplify (/ 1 1) into 1 5.651 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.651 * [taylor]: Taking taylor expansion of phi2 in phi1 5.651 * [backup-simplify]: Simplify phi2 into phi2 5.651 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.652 * [backup-simplify]: Simplify (+ 1 0) into 1 5.652 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.652 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.653 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.653 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.653 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.653 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.654 * [backup-simplify]: Simplify (+ 0 0) into 0 5.654 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.655 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.655 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.655 * [backup-simplify]: Simplify (- 0) into 0 5.655 * [backup-simplify]: Simplify (+ 0 0) into 0 5.656 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.657 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 5.658 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.658 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.658 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) 5.659 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 5.659 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 5.659 * [backup-simplify]: Simplify (+ 0) into 0 5.659 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.660 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.660 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.660 * [backup-simplify]: Simplify (+ 0 0) into 0 5.660 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.661 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.661 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.661 * [backup-simplify]: Simplify (- 0) into 0 5.661 * [backup-simplify]: Simplify (+ 0 0) into 0 5.662 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.662 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda2))) into 0 5.663 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 5.663 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 5.663 * [backup-simplify]: Simplify (+ (/ 2 (* phi1 phi2)) 0) into (* 2 (/ 1 (* phi1 phi2))) 5.663 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi1 phi2)))) into (- (* 2 (/ 1 (* phi1 phi2)))) 5.664 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) 5.665 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.665 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 5.665 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.665 * [backup-simplify]: Simplify 1/2 into 1/2 5.665 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 5.665 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2 5.665 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2 5.665 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 5.665 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.665 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.666 * [backup-simplify]: Simplify phi1 into phi1 5.666 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.666 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.666 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.666 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.666 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.666 * [backup-simplify]: Simplify phi2 into phi2 5.666 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.666 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.666 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 5.666 * [taylor]: Taking taylor expansion of 2 in lambda2 5.666 * [backup-simplify]: Simplify 2 into 2 5.666 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 5.666 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 5.666 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.666 * [backup-simplify]: Simplify phi1 into phi1 5.666 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.666 * [backup-simplify]: Simplify phi2 into phi2 5.666 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.666 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 5.666 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.666 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.666 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.666 * [backup-simplify]: Simplify 0.5 into 0.5 5.666 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.666 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.666 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.666 * [backup-simplify]: Simplify phi1 into phi1 5.666 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.666 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.666 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.666 * [backup-simplify]: Simplify phi2 into phi2 5.666 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.666 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.666 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.667 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.667 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.667 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.667 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 5.667 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 5.667 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 5.667 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.667 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.668 * [backup-simplify]: Simplify (- 0) into 0 5.668 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.668 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.668 * [backup-simplify]: Simplify (+ 0) into 0 5.669 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.669 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.669 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.669 * [backup-simplify]: Simplify (+ 0 0) into 0 5.670 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.670 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.670 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.671 * [backup-simplify]: Simplify (- 0) into 0 5.671 * [backup-simplify]: Simplify (+ 0 0) into 0 5.672 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 5.672 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.672 * [taylor]: Taking taylor expansion of 0 in phi1 5.672 * [backup-simplify]: Simplify 0 into 0 5.672 * [backup-simplify]: Simplify (+ 0) into 0 5.673 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.673 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.673 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.673 * [backup-simplify]: Simplify (+ 0 0) into 0 5.673 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.674 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.674 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.674 * [backup-simplify]: Simplify (- 0) into 0 5.675 * [backup-simplify]: Simplify (+ 0 0) into 0 5.675 * [taylor]: Taking taylor expansion of 0 in phi1 5.675 * [backup-simplify]: Simplify 0 into 0 5.675 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.675 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.675 * [taylor]: Taking taylor expansion of -1 in phi2 5.675 * [backup-simplify]: Simplify -1 into -1 5.675 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.675 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.675 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.675 * [backup-simplify]: Simplify 0.5 into 0.5 5.675 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.675 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.675 * [taylor]: Taking taylor expansion of phi1 in phi2 5.675 * [backup-simplify]: Simplify phi1 into phi1 5.675 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.675 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.675 * [taylor]: Taking taylor expansion of phi2 in phi2 5.675 * [backup-simplify]: Simplify 0 into 0 5.675 * [backup-simplify]: Simplify 1 into 1 5.675 * [backup-simplify]: Simplify (/ 1 1) into 1 5.676 * [backup-simplify]: Simplify (+ 0 1) into 1 5.676 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.676 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.676 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.676 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.676 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.676 * [backup-simplify]: Simplify 0.5 into 0.5 5.676 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.676 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.676 * [taylor]: Taking taylor expansion of phi1 in phi2 5.676 * [backup-simplify]: Simplify phi1 into phi1 5.676 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.676 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.676 * [taylor]: Taking taylor expansion of phi2 in phi2 5.676 * [backup-simplify]: Simplify 0 into 0 5.676 * [backup-simplify]: Simplify 1 into 1 5.676 * [backup-simplify]: Simplify (/ 1 1) into 1 5.677 * [backup-simplify]: Simplify (+ 0 1) into 1 5.677 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.677 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.678 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.678 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.679 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.679 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.679 * [backup-simplify]: Simplify (+ 0 0) into 0 5.680 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.683 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.683 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.684 * [backup-simplify]: Simplify (- 0) into 0 5.684 * [backup-simplify]: Simplify (+ 0 0) into 0 5.685 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.685 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.687 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.687 * [backup-simplify]: Simplify (+ 0) into 0 5.687 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.687 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.687 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.688 * [backup-simplify]: Simplify (+ 0 0) into 0 5.688 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.689 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.689 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.689 * [backup-simplify]: Simplify (- 0) into 0 5.689 * [backup-simplify]: Simplify (+ 0 0) into 0 5.690 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.690 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.690 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 5.690 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.690 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 5.690 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.691 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 5.691 * [backup-simplify]: Simplify (+ 0 0) into 0 5.691 * [backup-simplify]: Simplify (+ 0 0) into 0 5.691 * [backup-simplify]: Simplify (+ 0 0) into 0 5.692 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 5.692 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi1 phi2)) (/ 0 (* phi1 phi2))))) into 0 5.692 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi1 phi2)))) into 0 5.693 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.693 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.693 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.694 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.694 * [backup-simplify]: Simplify (+ 0 0) into 0 5.694 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.695 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.695 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.695 * [backup-simplify]: Simplify (- 0) into 0 5.696 * [backup-simplify]: Simplify (+ 0 0) into 0 5.696 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.697 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda2)))) into 0 5.697 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 5.698 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 5.698 * [backup-simplify]: Simplify (+ 0 0) into 0 5.698 * [backup-simplify]: Simplify (- 0) into 0 5.699 * [backup-simplify]: Simplify (+ 0 0) into 0 5.700 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.700 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 5.700 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.700 * [backup-simplify]: Simplify 1/2 into 1/2 5.700 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 5.700 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2 5.700 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2 5.700 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2 5.700 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2 5.700 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.700 * [backup-simplify]: Simplify 0 into 0 5.700 * [backup-simplify]: Simplify 1 into 1 5.700 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.700 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.700 * [backup-simplify]: Simplify phi2 into phi2 5.700 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.700 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0 5.700 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.700 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2) 5.700 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.700 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 5.700 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 5.701 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.701 * [backup-simplify]: Simplify 0 into 0 5.701 * [backup-simplify]: Simplify 1 into 1 5.701 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.701 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.701 * [backup-simplify]: Simplify phi1 into phi1 5.701 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.701 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 5.701 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.701 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 5.701 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.701 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2 5.701 * [taylor]: Taking taylor expansion of 2 in lambda2 5.701 * [backup-simplify]: Simplify 2 into 2 5.701 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2 5.701 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2 5.701 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.701 * [backup-simplify]: Simplify 0 into 0 5.701 * [backup-simplify]: Simplify 1 into 1 5.701 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 5.701 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.701 * [backup-simplify]: Simplify phi1 into phi1 5.701 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.701 * [backup-simplify]: Simplify phi2 into phi2 5.701 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.701 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0 5.702 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 5.702 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2) 5.702 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 5.702 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.702 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.702 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.702 * [backup-simplify]: Simplify 0.5 into 0.5 5.702 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.702 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.702 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.702 * [backup-simplify]: Simplify phi1 into phi1 5.702 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.702 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.702 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.702 * [backup-simplify]: Simplify phi2 into phi2 5.702 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.702 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.702 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.702 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.703 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.703 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.703 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 5.703 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 5.703 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 5.703 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.703 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.704 * [backup-simplify]: Simplify (- 0) into 0 5.704 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.704 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.705 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.705 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 5.705 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.705 * [backup-simplify]: Simplify 1/2 into 1/2 5.705 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.705 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 5.705 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.705 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.705 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.705 * [taylor]: Taking taylor expansion of phi2 in phi1 5.705 * [backup-simplify]: Simplify phi2 into phi2 5.705 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.705 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.705 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.705 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.705 * [taylor]: Taking taylor expansion of phi1 in phi1 5.705 * [backup-simplify]: Simplify 0 into 0 5.705 * [backup-simplify]: Simplify 1 into 1 5.705 * [backup-simplify]: Simplify (* 1 1) into 1 5.706 * [backup-simplify]: Simplify (/ 1 1) into 1 5.706 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 5.706 * [taylor]: Taking taylor expansion of 2 in phi1 5.706 * [backup-simplify]: Simplify 2 into 2 5.706 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 5.706 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 5.706 * [taylor]: Taking taylor expansion of phi1 in phi1 5.706 * [backup-simplify]: Simplify 0 into 0 5.706 * [backup-simplify]: Simplify 1 into 1 5.706 * [taylor]: Taking taylor expansion of phi2 in phi1 5.706 * [backup-simplify]: Simplify phi2 into phi2 5.706 * [backup-simplify]: Simplify (* 0 phi2) into 0 5.706 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 5.707 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.707 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.707 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.707 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.707 * [backup-simplify]: Simplify 0.5 into 0.5 5.707 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.707 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.707 * [taylor]: Taking taylor expansion of phi1 in phi1 5.707 * [backup-simplify]: Simplify 0 into 0 5.707 * [backup-simplify]: Simplify 1 into 1 5.707 * [backup-simplify]: Simplify (/ 1 1) into 1 5.707 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.707 * [taylor]: Taking taylor expansion of phi2 in phi1 5.707 * [backup-simplify]: Simplify phi2 into phi2 5.707 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.707 * [backup-simplify]: Simplify (+ 1 0) into 1 5.708 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.708 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.708 * [backup-simplify]: Simplify (+ 0 1) into 1 5.708 * [backup-simplify]: Simplify (+ 1 0) into 1 5.709 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.709 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.709 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.710 * [backup-simplify]: Simplify (+ 0 0) into 0 5.710 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.710 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.710 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.710 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))) 5.711 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) 5.711 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2 5.711 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2 5.711 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2 5.711 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.711 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.711 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.711 * [backup-simplify]: Simplify 0.5 into 0.5 5.711 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.711 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.711 * [taylor]: Taking taylor expansion of phi1 in phi2 5.711 * [backup-simplify]: Simplify phi1 into phi1 5.711 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.711 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.711 * [taylor]: Taking taylor expansion of phi2 in phi2 5.711 * [backup-simplify]: Simplify 0 into 0 5.711 * [backup-simplify]: Simplify 1 into 1 5.711 * [backup-simplify]: Simplify (/ 1 1) into 1 5.711 * [backup-simplify]: Simplify (+ 0 1) into 1 5.712 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.712 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.712 * [taylor]: Taking taylor expansion of phi2 in phi2 5.712 * [backup-simplify]: Simplify 0 into 0 5.712 * [backup-simplify]: Simplify 1 into 1 5.712 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.712 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.712 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.712 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.713 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.713 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.713 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 5.713 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.713 * [backup-simplify]: Simplify 1/2 into 1/2 5.713 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.713 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 5.713 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.713 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.713 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.713 * [taylor]: Taking taylor expansion of phi2 in phi1 5.713 * [backup-simplify]: Simplify phi2 into phi2 5.713 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.713 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.713 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.713 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.713 * [taylor]: Taking taylor expansion of phi1 in phi1 5.713 * [backup-simplify]: Simplify 0 into 0 5.713 * [backup-simplify]: Simplify 1 into 1 5.714 * [backup-simplify]: Simplify (* 1 1) into 1 5.714 * [backup-simplify]: Simplify (/ 1 1) into 1 5.714 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 5.714 * [taylor]: Taking taylor expansion of 2 in phi1 5.714 * [backup-simplify]: Simplify 2 into 2 5.714 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 5.714 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 5.714 * [taylor]: Taking taylor expansion of phi1 in phi1 5.714 * [backup-simplify]: Simplify 0 into 0 5.714 * [backup-simplify]: Simplify 1 into 1 5.714 * [taylor]: Taking taylor expansion of phi2 in phi1 5.714 * [backup-simplify]: Simplify phi2 into phi2 5.714 * [backup-simplify]: Simplify (* 0 phi2) into 0 5.714 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 5.715 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.715 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.715 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.715 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.715 * [backup-simplify]: Simplify 0.5 into 0.5 5.715 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.715 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.715 * [taylor]: Taking taylor expansion of phi1 in phi1 5.715 * [backup-simplify]: Simplify 0 into 0 5.715 * [backup-simplify]: Simplify 1 into 1 5.715 * [backup-simplify]: Simplify (/ 1 1) into 1 5.715 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.715 * [taylor]: Taking taylor expansion of phi2 in phi1 5.715 * [backup-simplify]: Simplify phi2 into phi2 5.715 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.716 * [backup-simplify]: Simplify (+ 1 0) into 1 5.716 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.716 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.716 * [backup-simplify]: Simplify (+ 0 1) into 1 5.717 * [backup-simplify]: Simplify (+ 1 0) into 1 5.717 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.717 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.718 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.718 * [backup-simplify]: Simplify (+ 0 0) into 0 5.718 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.718 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.718 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.718 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))) 5.719 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) 5.719 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2 5.719 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2 5.719 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2 5.719 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.719 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.719 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.719 * [backup-simplify]: Simplify 0.5 into 0.5 5.719 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.719 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.719 * [taylor]: Taking taylor expansion of phi1 in phi2 5.719 * [backup-simplify]: Simplify phi1 into phi1 5.719 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.719 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.719 * [taylor]: Taking taylor expansion of phi2 in phi2 5.719 * [backup-simplify]: Simplify 0 into 0 5.719 * [backup-simplify]: Simplify 1 into 1 5.719 * [backup-simplify]: Simplify (/ 1 1) into 1 5.719 * [backup-simplify]: Simplify (+ 0 1) into 1 5.720 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.720 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.720 * [taylor]: Taking taylor expansion of phi2 in phi2 5.720 * [backup-simplify]: Simplify 0 into 0 5.720 * [backup-simplify]: Simplify 1 into 1 5.720 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.720 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.720 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.721 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.721 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.721 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.722 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.722 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.722 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.722 * [backup-simplify]: Simplify (+ 0 0) into 0 5.723 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.723 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.724 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.724 * [backup-simplify]: Simplify (- 0) into 0 5.724 * [backup-simplify]: Simplify (+ 0 0) into 0 5.725 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.726 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.726 * [taylor]: Taking taylor expansion of 0 in phi1 5.726 * [backup-simplify]: Simplify 0 into 0 5.726 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.727 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.727 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.727 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.728 * [backup-simplify]: Simplify (+ 0 0) into 0 5.729 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.729 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.730 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.730 * [backup-simplify]: Simplify (- 0) into 0 5.731 * [backup-simplify]: Simplify (+ 0 0) into 0 5.731 * [taylor]: Taking taylor expansion of 0 in phi1 5.731 * [backup-simplify]: Simplify 0 into 0 5.731 * [taylor]: Taking taylor expansion of 0 in phi2 5.731 * [backup-simplify]: Simplify 0 into 0 5.731 * [taylor]: Taking taylor expansion of 0 in phi2 5.731 * [backup-simplify]: Simplify 0 into 0 5.732 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.732 * [taylor]: Taking taylor expansion of 0 in phi2 5.732 * [backup-simplify]: Simplify 0 into 0 5.732 * [taylor]: Taking taylor expansion of 0 in phi2 5.732 * [backup-simplify]: Simplify 0 into 0 5.732 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.732 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.733 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1)))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2))))))) into (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2)))))) 5.734 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 5.734 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 5.734 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi2 5.734 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi2 5.734 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in phi2 5.734 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 5.734 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.734 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.734 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.734 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.734 * [backup-simplify]: Simplify -0.5 into -0.5 5.734 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.734 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.734 * [taylor]: Taking taylor expansion of phi1 in phi2 5.734 * [backup-simplify]: Simplify phi1 into phi1 5.734 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.734 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.735 * [taylor]: Taking taylor expansion of phi2 in phi2 5.735 * [backup-simplify]: Simplify 0 into 0 5.735 * [backup-simplify]: Simplify 1 into 1 5.735 * [backup-simplify]: Simplify (/ 1 1) into 1 5.735 * [backup-simplify]: Simplify (+ 0 1) into 1 5.735 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.736 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.736 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 5.736 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.736 * [backup-simplify]: Simplify lambda2 into lambda2 5.736 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.736 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.736 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.736 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in phi2 5.736 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 5.736 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 5.736 * [taylor]: Taking taylor expansion of phi1 in phi2 5.736 * [backup-simplify]: Simplify phi1 into phi1 5.736 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.736 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.736 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in phi2 5.736 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 5.736 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.736 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.736 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.736 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.736 * [backup-simplify]: Simplify -0.5 into -0.5 5.737 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.737 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.737 * [taylor]: Taking taylor expansion of phi1 in phi2 5.737 * [backup-simplify]: Simplify phi1 into phi1 5.737 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.737 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.737 * [taylor]: Taking taylor expansion of phi2 in phi2 5.737 * [backup-simplify]: Simplify 0 into 0 5.737 * [backup-simplify]: Simplify 1 into 1 5.737 * [backup-simplify]: Simplify (/ 1 1) into 1 5.737 * [backup-simplify]: Simplify (+ 0 1) into 1 5.738 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.738 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.738 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 5.738 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.738 * [backup-simplify]: Simplify lambda1 into lambda1 5.738 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.738 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.738 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.738 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 5.738 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 5.738 * [taylor]: Taking taylor expansion of phi2 in phi2 5.738 * [backup-simplify]: Simplify 0 into 0 5.738 * [backup-simplify]: Simplify 1 into 1 5.739 * [backup-simplify]: Simplify (* 1 1) into 1 5.739 * [backup-simplify]: Simplify (/ 1 1) into 1 5.739 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 5.739 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2 5.739 * [taylor]: Taking taylor expansion of 2 in phi2 5.739 * [backup-simplify]: Simplify 2 into 2 5.739 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2 5.739 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 5.739 * [taylor]: Taking taylor expansion of phi1 in phi2 5.739 * [backup-simplify]: Simplify phi1 into phi1 5.739 * [taylor]: Taking taylor expansion of phi2 in phi2 5.739 * [backup-simplify]: Simplify 0 into 0 5.739 * [backup-simplify]: Simplify 1 into 1 5.739 * [backup-simplify]: Simplify (* phi1 0) into 0 5.739 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 5.739 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.739 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 5.739 * [taylor]: Taking taylor expansion of 2 in phi2 5.739 * [backup-simplify]: Simplify 2 into 2 5.739 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 5.739 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.739 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.739 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.739 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.739 * [backup-simplify]: Simplify -0.5 into -0.5 5.740 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.740 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.740 * [taylor]: Taking taylor expansion of phi1 in phi2 5.740 * [backup-simplify]: Simplify phi1 into phi1 5.740 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.740 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.740 * [taylor]: Taking taylor expansion of phi2 in phi2 5.740 * [backup-simplify]: Simplify 0 into 0 5.740 * [backup-simplify]: Simplify 1 into 1 5.740 * [backup-simplify]: Simplify (/ 1 1) into 1 5.740 * [backup-simplify]: Simplify (+ 0 1) into 1 5.740 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.741 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.741 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 5.741 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.741 * [backup-simplify]: Simplify lambda2 into lambda2 5.741 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.741 * [backup-simplify]: Simplify lambda1 into lambda1 5.741 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.741 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 5.741 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 5.742 * [backup-simplify]: Simplify (+ 0 1) into 1 5.742 * [backup-simplify]: Simplify (+ 0 1) into 1 5.742 * [backup-simplify]: Simplify (+ 0 1) into 1 5.743 * [backup-simplify]: Simplify (+ 1 0) into 1 5.743 * [backup-simplify]: Simplify (sqrt 1) into 1 5.743 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.744 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.744 * [backup-simplify]: Simplify (+ 0 0) into 0 5.744 * [backup-simplify]: Simplify (+ 0 0) into 0 5.744 * [backup-simplify]: Simplify (+ 0 0) into 0 5.744 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 5.744 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 5.745 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 5.745 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 5.745 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 5.745 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1 5.745 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 5.745 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in phi1 5.745 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 5.745 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.745 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.745 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.745 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.745 * [backup-simplify]: Simplify -0.5 into -0.5 5.745 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.745 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.745 * [taylor]: Taking taylor expansion of phi1 in phi1 5.745 * [backup-simplify]: Simplify 0 into 0 5.745 * [backup-simplify]: Simplify 1 into 1 5.746 * [backup-simplify]: Simplify (/ 1 1) into 1 5.746 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.746 * [taylor]: Taking taylor expansion of phi2 in phi1 5.746 * [backup-simplify]: Simplify phi2 into phi2 5.746 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.746 * [backup-simplify]: Simplify (+ 1 0) into 1 5.746 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.746 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.746 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 5.746 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.746 * [backup-simplify]: Simplify lambda2 into lambda2 5.747 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.747 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.747 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.747 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in phi1 5.747 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.747 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.747 * [taylor]: Taking taylor expansion of phi1 in phi1 5.747 * [backup-simplify]: Simplify 0 into 0 5.747 * [backup-simplify]: Simplify 1 into 1 5.747 * [backup-simplify]: Simplify (* 1 1) into 1 5.747 * [backup-simplify]: Simplify (/ 1 1) into 1 5.747 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in phi1 5.748 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 5.748 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.748 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.748 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.748 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.748 * [backup-simplify]: Simplify -0.5 into -0.5 5.748 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.748 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.748 * [taylor]: Taking taylor expansion of phi1 in phi1 5.748 * [backup-simplify]: Simplify 0 into 0 5.748 * [backup-simplify]: Simplify 1 into 1 5.748 * [backup-simplify]: Simplify (/ 1 1) into 1 5.748 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.748 * [taylor]: Taking taylor expansion of phi2 in phi1 5.748 * [backup-simplify]: Simplify phi2 into phi2 5.748 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.748 * [backup-simplify]: Simplify (+ 1 0) into 1 5.749 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.749 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.749 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 5.749 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.749 * [backup-simplify]: Simplify lambda1 into lambda1 5.749 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.749 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.749 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.749 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.749 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.749 * [taylor]: Taking taylor expansion of phi2 in phi1 5.749 * [backup-simplify]: Simplify phi2 into phi2 5.749 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.749 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.749 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 5.749 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 5.749 * [taylor]: Taking taylor expansion of 2 in phi1 5.750 * [backup-simplify]: Simplify 2 into 2 5.750 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 5.750 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 5.750 * [taylor]: Taking taylor expansion of phi1 in phi1 5.750 * [backup-simplify]: Simplify 0 into 0 5.750 * [backup-simplify]: Simplify 1 into 1 5.750 * [taylor]: Taking taylor expansion of phi2 in phi1 5.750 * [backup-simplify]: Simplify phi2 into phi2 5.750 * [backup-simplify]: Simplify (* 0 phi2) into 0 5.750 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 5.750 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.750 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 5.750 * [taylor]: Taking taylor expansion of 2 in phi1 5.750 * [backup-simplify]: Simplify 2 into 2 5.750 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 5.750 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.750 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.750 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.750 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.750 * [backup-simplify]: Simplify -0.5 into -0.5 5.750 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.750 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.750 * [taylor]: Taking taylor expansion of phi1 in phi1 5.750 * [backup-simplify]: Simplify 0 into 0 5.750 * [backup-simplify]: Simplify 1 into 1 5.750 * [backup-simplify]: Simplify (/ 1 1) into 1 5.750 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.751 * [taylor]: Taking taylor expansion of phi2 in phi1 5.751 * [backup-simplify]: Simplify phi2 into phi2 5.751 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.751 * [backup-simplify]: Simplify (+ 1 0) into 1 5.751 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.751 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.751 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 5.751 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.751 * [backup-simplify]: Simplify lambda2 into lambda2 5.751 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.751 * [backup-simplify]: Simplify lambda1 into lambda1 5.752 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.752 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 5.752 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 5.752 * [backup-simplify]: Simplify (+ 1 0) into 1 5.752 * [backup-simplify]: Simplify (+ 0 1) into 1 5.753 * [backup-simplify]: Simplify (+ 1 0) into 1 5.753 * [backup-simplify]: Simplify (sqrt 1) into 1 5.753 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.754 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.754 * [backup-simplify]: Simplify (+ 0 0) into 0 5.754 * [backup-simplify]: Simplify (+ 0 0) into 0 5.754 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.754 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 5.754 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 5.754 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.755 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 5.755 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2 5.755 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2 5.755 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda2 5.755 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 5.755 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.755 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.755 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.755 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.755 * [backup-simplify]: Simplify -0.5 into -0.5 5.755 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.755 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.755 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.755 * [backup-simplify]: Simplify phi1 into phi1 5.755 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.755 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.755 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.755 * [backup-simplify]: Simplify phi2 into phi2 5.755 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.755 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.755 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.755 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.756 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.756 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.756 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.756 * [backup-simplify]: Simplify (- 0) into 0 5.756 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.756 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.756 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.756 * [backup-simplify]: Simplify 0 into 0 5.756 * [backup-simplify]: Simplify 1 into 1 5.756 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.757 * [backup-simplify]: Simplify (* 1 1) into 1 5.757 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.757 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda2 5.757 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 5.757 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.757 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.757 * [backup-simplify]: Simplify phi1 into phi1 5.757 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.757 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.757 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda2 5.757 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 5.757 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.757 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.757 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.757 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.757 * [backup-simplify]: Simplify -0.5 into -0.5 5.757 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.757 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.757 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.757 * [backup-simplify]: Simplify phi1 into phi1 5.757 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.757 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.757 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.757 * [backup-simplify]: Simplify phi2 into phi2 5.757 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.758 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.758 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.758 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.758 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.758 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.758 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.758 * [backup-simplify]: Simplify (- 0) into 0 5.758 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.758 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 5.758 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.758 * [backup-simplify]: Simplify lambda1 into lambda1 5.759 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.759 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 5.759 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 5.759 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.759 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.759 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.759 * [backup-simplify]: Simplify phi2 into phi2 5.759 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.759 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.759 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 5.759 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 5.759 * [taylor]: Taking taylor expansion of 2 in lambda2 5.759 * [backup-simplify]: Simplify 2 into 2 5.759 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 5.759 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 5.759 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.759 * [backup-simplify]: Simplify phi1 into phi1 5.759 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.759 * [backup-simplify]: Simplify phi2 into phi2 5.759 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.759 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 5.759 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 5.760 * [taylor]: Taking taylor expansion of 2 in lambda2 5.760 * [backup-simplify]: Simplify 2 into 2 5.760 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 5.760 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.760 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.760 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.760 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.760 * [backup-simplify]: Simplify -0.5 into -0.5 5.760 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.760 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.760 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.760 * [backup-simplify]: Simplify phi1 into phi1 5.760 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.760 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.760 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.760 * [backup-simplify]: Simplify phi2 into phi2 5.760 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.760 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.760 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.760 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.760 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.761 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.761 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.761 * [backup-simplify]: Simplify (- 0) into 0 5.761 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.761 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 5.761 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.761 * [backup-simplify]: Simplify 0 into 0 5.761 * [backup-simplify]: Simplify 1 into 1 5.761 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.761 * [backup-simplify]: Simplify lambda1 into lambda1 5.761 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.761 * [backup-simplify]: Simplify (* 0 lambda1) into 0 5.762 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 5.762 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 5.762 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.762 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.762 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.763 * [backup-simplify]: Simplify (+ 0) into 0 5.763 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.763 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.763 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.764 * [backup-simplify]: Simplify (+ 0 0) into 0 5.764 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.765 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.765 * [backup-simplify]: Simplify (- 0) into 0 5.766 * [backup-simplify]: Simplify (+ 0 0) into 0 5.766 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.766 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.767 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.767 * [backup-simplify]: Simplify (+ 0 0) into 0 5.768 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.768 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 5.768 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.768 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 5.769 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 5.769 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 5.769 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 5.769 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda1 5.769 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 5.769 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.769 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.769 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.769 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.769 * [backup-simplify]: Simplify -0.5 into -0.5 5.769 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.769 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.769 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.769 * [backup-simplify]: Simplify phi1 into phi1 5.769 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.769 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.769 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.769 * [backup-simplify]: Simplify phi2 into phi2 5.769 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.769 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.769 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.769 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.769 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.770 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.770 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.770 * [backup-simplify]: Simplify (- 0) into 0 5.770 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.770 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.770 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.770 * [backup-simplify]: Simplify lambda2 into lambda2 5.770 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.770 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.771 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.771 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda1 5.771 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 5.771 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.771 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.771 * [backup-simplify]: Simplify phi1 into phi1 5.771 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.771 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.771 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda1 5.771 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 5.771 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.771 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.771 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.771 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.771 * [backup-simplify]: Simplify -0.5 into -0.5 5.771 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.771 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.771 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.771 * [backup-simplify]: Simplify phi1 into phi1 5.771 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.771 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.771 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.771 * [backup-simplify]: Simplify phi2 into phi2 5.771 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.771 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.771 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.771 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.771 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.772 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.772 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.772 * [backup-simplify]: Simplify (- 0) into 0 5.772 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.772 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.772 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.772 * [backup-simplify]: Simplify 0 into 0 5.772 * [backup-simplify]: Simplify 1 into 1 5.772 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.773 * [backup-simplify]: Simplify (* 1 1) into 1 5.773 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.773 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 5.773 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.773 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.773 * [backup-simplify]: Simplify phi2 into phi2 5.773 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.773 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.773 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 5.773 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 5.773 * [taylor]: Taking taylor expansion of 2 in lambda1 5.773 * [backup-simplify]: Simplify 2 into 2 5.773 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 5.773 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 5.773 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.773 * [backup-simplify]: Simplify phi1 into phi1 5.773 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.773 * [backup-simplify]: Simplify phi2 into phi2 5.773 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.773 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 5.773 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 5.773 * [taylor]: Taking taylor expansion of 2 in lambda1 5.773 * [backup-simplify]: Simplify 2 into 2 5.773 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 5.773 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.773 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.773 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.773 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.773 * [backup-simplify]: Simplify -0.5 into -0.5 5.773 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.773 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.773 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.773 * [backup-simplify]: Simplify phi1 into phi1 5.773 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.773 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.773 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.774 * [backup-simplify]: Simplify phi2 into phi2 5.774 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.774 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.774 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.774 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.774 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.774 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.774 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.774 * [backup-simplify]: Simplify (- 0) into 0 5.774 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.775 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 5.775 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.775 * [backup-simplify]: Simplify lambda2 into lambda2 5.775 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.775 * [backup-simplify]: Simplify 0 into 0 5.775 * [backup-simplify]: Simplify 1 into 1 5.775 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.775 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.775 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 5.775 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 5.775 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.776 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.776 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.776 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.776 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.776 * [backup-simplify]: Simplify (+ 0) into 0 5.777 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.777 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.777 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.777 * [backup-simplify]: Simplify (+ 0 0) into 0 5.778 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.778 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.778 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.779 * [backup-simplify]: Simplify (- 0) into 0 5.779 * [backup-simplify]: Simplify (+ 0 0) into 0 5.779 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.780 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.780 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.781 * [backup-simplify]: Simplify (+ 0 0) into 0 5.781 * [backup-simplify]: Simplify (+ 0 0) into 0 5.781 * [backup-simplify]: Simplify (+ 0 0) into 0 5.782 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.782 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.783 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.783 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.784 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.784 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 5.784 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 5.784 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda1 5.784 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 5.784 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.784 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.784 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.784 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.784 * [backup-simplify]: Simplify -0.5 into -0.5 5.784 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.784 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.784 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.784 * [backup-simplify]: Simplify phi1 into phi1 5.784 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.784 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.784 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.784 * [backup-simplify]: Simplify phi2 into phi2 5.784 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.784 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.784 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.784 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.785 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.785 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.785 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.785 * [backup-simplify]: Simplify (- 0) into 0 5.785 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.785 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 5.785 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.785 * [backup-simplify]: Simplify lambda2 into lambda2 5.785 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.785 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 5.786 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 5.786 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda1 5.786 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 5.786 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 5.786 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.786 * [backup-simplify]: Simplify phi1 into phi1 5.786 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.786 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.786 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda1 5.786 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 5.786 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.786 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.786 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.786 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.786 * [backup-simplify]: Simplify -0.5 into -0.5 5.786 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.786 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.786 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.786 * [backup-simplify]: Simplify phi1 into phi1 5.786 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.786 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.786 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.786 * [backup-simplify]: Simplify phi2 into phi2 5.786 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.786 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.786 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.786 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.787 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.787 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.787 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.788 * [backup-simplify]: Simplify (- 0) into 0 5.789 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.789 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 5.789 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.789 * [backup-simplify]: Simplify 0 into 0 5.789 * [backup-simplify]: Simplify 1 into 1 5.789 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.789 * [backup-simplify]: Simplify (* 1 1) into 1 5.789 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.789 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 5.789 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 5.790 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.790 * [backup-simplify]: Simplify phi2 into phi2 5.790 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.790 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.790 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 5.790 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 5.790 * [taylor]: Taking taylor expansion of 2 in lambda1 5.790 * [backup-simplify]: Simplify 2 into 2 5.790 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 5.790 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 5.790 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.790 * [backup-simplify]: Simplify phi1 into phi1 5.790 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.790 * [backup-simplify]: Simplify phi2 into phi2 5.790 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.790 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 5.790 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 5.790 * [taylor]: Taking taylor expansion of 2 in lambda1 5.790 * [backup-simplify]: Simplify 2 into 2 5.790 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 5.790 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.790 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.790 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.790 * [taylor]: Taking taylor expansion of -0.5 in lambda1 5.790 * [backup-simplify]: Simplify -0.5 into -0.5 5.790 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.790 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.790 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.790 * [backup-simplify]: Simplify phi1 into phi1 5.790 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.790 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.790 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.790 * [backup-simplify]: Simplify phi2 into phi2 5.790 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.790 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.790 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.790 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.791 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.791 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.791 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.791 * [backup-simplify]: Simplify (- 0) into 0 5.791 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.791 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 5.791 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.791 * [backup-simplify]: Simplify lambda2 into lambda2 5.791 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.791 * [backup-simplify]: Simplify 0 into 0 5.791 * [backup-simplify]: Simplify 1 into 1 5.791 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.791 * [backup-simplify]: Simplify (* lambda2 0) into 0 5.792 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 5.792 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 5.792 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.792 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.792 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.793 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.793 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.793 * [backup-simplify]: Simplify (+ 0) into 0 5.794 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.794 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.794 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.794 * [backup-simplify]: Simplify (+ 0 0) into 0 5.794 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.795 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.795 * [backup-simplify]: Simplify (- 0) into 0 5.796 * [backup-simplify]: Simplify (+ 0 0) into 0 5.796 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.796 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.797 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 5.797 * [backup-simplify]: Simplify (+ 0 0) into 0 5.797 * [backup-simplify]: Simplify (+ 0 0) into 0 5.798 * [backup-simplify]: Simplify (+ 0 0) into 0 5.798 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.798 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 5.798 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.799 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.799 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 5.799 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.799 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.799 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.799 * [backup-simplify]: Simplify -0.5 into -0.5 5.799 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.799 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.799 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.799 * [backup-simplify]: Simplify phi1 into phi1 5.799 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.799 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.799 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.799 * [backup-simplify]: Simplify phi2 into phi2 5.799 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.799 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.800 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.800 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.800 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.800 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 5.800 * [taylor]: Taking taylor expansion of -1 in lambda2 5.800 * [backup-simplify]: Simplify -1 into -1 5.800 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 5.800 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.800 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.800 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.800 * [backup-simplify]: Simplify -0.5 into -0.5 5.800 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.800 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.800 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.800 * [backup-simplify]: Simplify phi1 into phi1 5.800 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.800 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.800 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.800 * [backup-simplify]: Simplify phi2 into phi2 5.800 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.800 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.800 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.800 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.800 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.800 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.800 * [backup-simplify]: Simplify 0 into 0 5.800 * [backup-simplify]: Simplify 1 into 1 5.801 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.801 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.801 * [backup-simplify]: Simplify (- 0) into 0 5.801 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.801 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.801 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.801 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.801 * [taylor]: Taking taylor expansion of -1 in phi1 5.801 * [backup-simplify]: Simplify -1 into -1 5.801 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.801 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.801 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.801 * [backup-simplify]: Simplify -0.5 into -0.5 5.801 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.801 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.801 * [taylor]: Taking taylor expansion of phi1 in phi1 5.801 * [backup-simplify]: Simplify 0 into 0 5.801 * [backup-simplify]: Simplify 1 into 1 5.802 * [backup-simplify]: Simplify (/ 1 1) into 1 5.802 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.802 * [taylor]: Taking taylor expansion of phi2 in phi1 5.802 * [backup-simplify]: Simplify phi2 into phi2 5.802 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.802 * [backup-simplify]: Simplify (+ 1 0) into 1 5.802 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.802 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.803 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.803 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.803 * [backup-simplify]: Simplify (- 0) into 0 5.803 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.803 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.803 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.803 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.803 * [backup-simplify]: Simplify -0.5 into -0.5 5.803 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.803 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.803 * [taylor]: Taking taylor expansion of phi1 in phi1 5.803 * [backup-simplify]: Simplify 0 into 0 5.803 * [backup-simplify]: Simplify 1 into 1 5.804 * [backup-simplify]: Simplify (/ 1 1) into 1 5.804 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.804 * [taylor]: Taking taylor expansion of phi2 in phi1 5.804 * [backup-simplify]: Simplify phi2 into phi2 5.804 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.804 * [backup-simplify]: Simplify (+ 1 0) into 1 5.804 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.804 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.805 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.805 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.805 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.806 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.806 * [backup-simplify]: Simplify (+ 0 0) into 0 5.806 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.807 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.807 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.808 * [backup-simplify]: Simplify (- 0) into 0 5.808 * [backup-simplify]: Simplify (+ 0 0) into 0 5.808 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.809 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 5.810 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.810 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi2 2))) into (/ 1 (pow phi2 2)) 5.810 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.811 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) 5.811 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 5.811 * [backup-simplify]: Simplify (+ 0) into 0 5.812 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.812 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.812 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.812 * [backup-simplify]: Simplify (+ 0 0) into 0 5.813 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.814 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.814 * [backup-simplify]: Simplify (- 0) into 0 5.815 * [backup-simplify]: Simplify (+ 0 0) into 0 5.815 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.816 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 5.816 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 5.817 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 5.817 * [backup-simplify]: Simplify (+ (/ 2 (* phi1 phi2)) 0) into (* 2 (/ 1 (* phi1 phi2))) 5.817 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi1 phi2)))) into (- (* 2 (/ 1 (* phi1 phi2)))) 5.818 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) 5.820 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.820 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 5.820 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.820 * [backup-simplify]: Simplify 1/2 into 1/2 5.820 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 5.820 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2 5.820 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 5.820 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 5.820 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.820 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.820 * [backup-simplify]: Simplify phi2 into phi2 5.820 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.820 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.821 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 5.821 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.821 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.821 * [backup-simplify]: Simplify phi1 into phi1 5.821 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.821 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.821 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 5.821 * [taylor]: Taking taylor expansion of 2 in lambda2 5.821 * [backup-simplify]: Simplify 2 into 2 5.821 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 5.821 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 5.821 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.821 * [backup-simplify]: Simplify phi1 into phi1 5.821 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.821 * [backup-simplify]: Simplify phi2 into phi2 5.821 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.821 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 5.821 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.821 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.821 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.821 * [backup-simplify]: Simplify -0.5 into -0.5 5.821 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.821 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.821 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.821 * [backup-simplify]: Simplify phi1 into phi1 5.821 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.821 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.821 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.821 * [backup-simplify]: Simplify phi2 into phi2 5.821 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.821 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.821 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.821 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.821 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.822 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.822 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 5.822 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 5.822 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 5.822 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.822 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.823 * [backup-simplify]: Simplify (- 0) into 0 5.823 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.823 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.823 * [backup-simplify]: Simplify (+ 0) into 0 5.824 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.824 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.824 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.824 * [backup-simplify]: Simplify (+ 0 0) into 0 5.824 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.825 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.825 * [backup-simplify]: Simplify (- 0) into 0 5.826 * [backup-simplify]: Simplify (+ 0 0) into 0 5.826 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 5.827 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.827 * [taylor]: Taking taylor expansion of 0 in phi1 5.827 * [backup-simplify]: Simplify 0 into 0 5.827 * [backup-simplify]: Simplify (+ 0) into 0 5.827 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.828 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.828 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.828 * [backup-simplify]: Simplify (+ 0 0) into 0 5.828 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.829 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.829 * [backup-simplify]: Simplify (- 0) into 0 5.830 * [backup-simplify]: Simplify (+ 0 0) into 0 5.830 * [taylor]: Taking taylor expansion of 0 in phi1 5.830 * [backup-simplify]: Simplify 0 into 0 5.830 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.830 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.830 * [taylor]: Taking taylor expansion of -1 in phi2 5.830 * [backup-simplify]: Simplify -1 into -1 5.830 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.830 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.830 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.830 * [backup-simplify]: Simplify -0.5 into -0.5 5.830 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.830 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.830 * [taylor]: Taking taylor expansion of phi1 in phi2 5.830 * [backup-simplify]: Simplify phi1 into phi1 5.830 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.830 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.830 * [taylor]: Taking taylor expansion of phi2 in phi2 5.830 * [backup-simplify]: Simplify 0 into 0 5.830 * [backup-simplify]: Simplify 1 into 1 5.830 * [backup-simplify]: Simplify (/ 1 1) into 1 5.831 * [backup-simplify]: Simplify (+ 0 1) into 1 5.831 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.831 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.831 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.831 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.831 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.831 * [backup-simplify]: Simplify -0.5 into -0.5 5.831 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.831 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.831 * [taylor]: Taking taylor expansion of phi1 in phi2 5.831 * [backup-simplify]: Simplify phi1 into phi1 5.831 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.831 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.831 * [taylor]: Taking taylor expansion of phi2 in phi2 5.831 * [backup-simplify]: Simplify 0 into 0 5.831 * [backup-simplify]: Simplify 1 into 1 5.831 * [backup-simplify]: Simplify (/ 1 1) into 1 5.832 * [backup-simplify]: Simplify (+ 0 1) into 1 5.832 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.832 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.832 * [backup-simplify]: Simplify (+ 0) into 0 5.833 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.833 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.833 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.833 * [backup-simplify]: Simplify (+ 0 0) into 0 5.834 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.834 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.834 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.835 * [backup-simplify]: Simplify (- 0) into 0 5.835 * [backup-simplify]: Simplify (+ 0 0) into 0 5.835 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.835 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 5.836 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 5.836 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.836 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 5.837 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 5.838 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.838 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.838 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.839 * [backup-simplify]: Simplify (+ 0 0) into 0 5.839 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.840 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 5.841 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 5.841 * [backup-simplify]: Simplify (- 0) into 0 5.841 * [backup-simplify]: Simplify (+ 0 0) into 0 5.842 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 5.843 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 5.844 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.844 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.844 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 5.845 * [backup-simplify]: Simplify (+ 0 0) into 0 5.845 * [backup-simplify]: Simplify (+ 0 0) into 0 5.845 * [backup-simplify]: Simplify (+ 0 0) into 0 5.845 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 5.845 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi1 phi2)) (/ 0 (* phi1 phi2))))) into 0 5.845 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi1 phi2)))) into 0 5.846 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.847 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.847 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.847 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.847 * [backup-simplify]: Simplify (+ 0 0) into 0 5.848 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.848 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.848 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.849 * [backup-simplify]: Simplify (- 0) into 0 5.849 * [backup-simplify]: Simplify (+ 0 0) into 0 5.849 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.850 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 5.850 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 5.851 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 5.851 * [backup-simplify]: Simplify (+ 0 0) into 0 5.851 * [backup-simplify]: Simplify (- 0) into 0 5.852 * [backup-simplify]: Simplify (+ 0 0) into 0 5.852 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.852 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 5.852 * [taylor]: Taking taylor expansion of 1/2 in lambda2 5.852 * [backup-simplify]: Simplify 1/2 into 1/2 5.853 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 5.853 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2 5.853 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2 5.853 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2 5.853 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2 5.853 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.853 * [backup-simplify]: Simplify 0 into 0 5.853 * [backup-simplify]: Simplify 1 into 1 5.853 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 5.853 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.853 * [backup-simplify]: Simplify phi2 into phi2 5.853 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.853 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0 5.853 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 5.853 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2) 5.853 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.853 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 5.853 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 5.853 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.853 * [backup-simplify]: Simplify 0 into 0 5.853 * [backup-simplify]: Simplify 1 into 1 5.853 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 5.853 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.853 * [backup-simplify]: Simplify phi1 into phi1 5.853 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 5.854 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 5.854 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 5.854 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 5.854 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 5.854 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2 5.854 * [taylor]: Taking taylor expansion of 2 in lambda2 5.854 * [backup-simplify]: Simplify 2 into 2 5.854 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2 5.854 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2 5.854 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.854 * [backup-simplify]: Simplify 0 into 0 5.854 * [backup-simplify]: Simplify 1 into 1 5.854 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 5.854 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.854 * [backup-simplify]: Simplify phi1 into phi1 5.854 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.854 * [backup-simplify]: Simplify phi2 into phi2 5.854 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 5.854 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0 5.854 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 5.855 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2) 5.855 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 5.855 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.855 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.855 * [taylor]: Taking taylor expansion of -0.5 in lambda2 5.855 * [backup-simplify]: Simplify -0.5 into -0.5 5.855 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.855 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.855 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.855 * [backup-simplify]: Simplify phi1 into phi1 5.855 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.855 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.855 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.855 * [backup-simplify]: Simplify phi2 into phi2 5.855 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.855 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.855 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.855 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.855 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.855 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 5.856 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 5.856 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 5.856 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 5.856 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.856 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.856 * [backup-simplify]: Simplify (- 0) into 0 5.856 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.857 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.857 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.857 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 5.857 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.857 * [backup-simplify]: Simplify 1/2 into 1/2 5.857 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.857 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 5.857 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.857 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.857 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.857 * [taylor]: Taking taylor expansion of phi2 in phi1 5.857 * [backup-simplify]: Simplify phi2 into phi2 5.857 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.857 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.857 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.857 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.857 * [taylor]: Taking taylor expansion of phi1 in phi1 5.858 * [backup-simplify]: Simplify 0 into 0 5.858 * [backup-simplify]: Simplify 1 into 1 5.858 * [backup-simplify]: Simplify (* 1 1) into 1 5.858 * [backup-simplify]: Simplify (/ 1 1) into 1 5.858 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 5.858 * [taylor]: Taking taylor expansion of 2 in phi1 5.858 * [backup-simplify]: Simplify 2 into 2 5.858 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 5.858 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 5.858 * [taylor]: Taking taylor expansion of phi1 in phi1 5.858 * [backup-simplify]: Simplify 0 into 0 5.858 * [backup-simplify]: Simplify 1 into 1 5.858 * [taylor]: Taking taylor expansion of phi2 in phi1 5.858 * [backup-simplify]: Simplify phi2 into phi2 5.858 * [backup-simplify]: Simplify (* 0 phi2) into 0 5.858 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 5.859 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.859 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.859 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.859 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.859 * [backup-simplify]: Simplify -0.5 into -0.5 5.859 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.859 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.859 * [taylor]: Taking taylor expansion of phi1 in phi1 5.859 * [backup-simplify]: Simplify 0 into 0 5.859 * [backup-simplify]: Simplify 1 into 1 5.859 * [backup-simplify]: Simplify (/ 1 1) into 1 5.859 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.859 * [taylor]: Taking taylor expansion of phi2 in phi1 5.859 * [backup-simplify]: Simplify phi2 into phi2 5.859 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.859 * [backup-simplify]: Simplify (+ 1 0) into 1 5.860 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.860 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.860 * [backup-simplify]: Simplify (+ 0 1) into 1 5.860 * [backup-simplify]: Simplify (+ 1 0) into 1 5.860 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.861 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.861 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.861 * [backup-simplify]: Simplify (+ 0 0) into 0 5.861 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.862 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.862 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.862 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 5.862 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 5.862 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 5.862 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.862 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.862 * [taylor]: Taking taylor expansion of phi2 in phi2 5.862 * [backup-simplify]: Simplify 0 into 0 5.862 * [backup-simplify]: Simplify 1 into 1 5.862 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.862 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.862 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.862 * [backup-simplify]: Simplify -0.5 into -0.5 5.862 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.862 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.862 * [taylor]: Taking taylor expansion of phi1 in phi2 5.863 * [backup-simplify]: Simplify phi1 into phi1 5.863 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.863 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.863 * [taylor]: Taking taylor expansion of phi2 in phi2 5.863 * [backup-simplify]: Simplify 0 into 0 5.863 * [backup-simplify]: Simplify 1 into 1 5.863 * [backup-simplify]: Simplify (/ 1 1) into 1 5.863 * [backup-simplify]: Simplify (+ 0 1) into 1 5.863 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.864 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.864 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.864 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.864 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.864 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.864 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.865 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.865 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 5.865 * [taylor]: Taking taylor expansion of 1/2 in phi1 5.865 * [backup-simplify]: Simplify 1/2 into 1/2 5.865 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 5.865 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 5.865 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 5.865 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 5.865 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 5.865 * [taylor]: Taking taylor expansion of phi2 in phi1 5.865 * [backup-simplify]: Simplify phi2 into phi2 5.865 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 5.865 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 5.865 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 5.865 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 5.865 * [taylor]: Taking taylor expansion of phi1 in phi1 5.865 * [backup-simplify]: Simplify 0 into 0 5.865 * [backup-simplify]: Simplify 1 into 1 5.865 * [backup-simplify]: Simplify (* 1 1) into 1 5.866 * [backup-simplify]: Simplify (/ 1 1) into 1 5.866 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 5.866 * [taylor]: Taking taylor expansion of 2 in phi1 5.866 * [backup-simplify]: Simplify 2 into 2 5.866 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 5.866 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 5.866 * [taylor]: Taking taylor expansion of phi1 in phi1 5.866 * [backup-simplify]: Simplify 0 into 0 5.866 * [backup-simplify]: Simplify 1 into 1 5.866 * [taylor]: Taking taylor expansion of phi2 in phi1 5.866 * [backup-simplify]: Simplify phi2 into phi2 5.866 * [backup-simplify]: Simplify (* 0 phi2) into 0 5.866 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 5.866 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.866 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.866 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.866 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.866 * [backup-simplify]: Simplify -0.5 into -0.5 5.866 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.866 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.866 * [taylor]: Taking taylor expansion of phi1 in phi1 5.866 * [backup-simplify]: Simplify 0 into 0 5.866 * [backup-simplify]: Simplify 1 into 1 5.867 * [backup-simplify]: Simplify (/ 1 1) into 1 5.867 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.867 * [taylor]: Taking taylor expansion of phi2 in phi1 5.867 * [backup-simplify]: Simplify phi2 into phi2 5.867 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.867 * [backup-simplify]: Simplify (+ 1 0) into 1 5.867 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.867 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.868 * [backup-simplify]: Simplify (+ 0 1) into 1 5.868 * [backup-simplify]: Simplify (+ 1 0) into 1 5.868 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.868 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 5.869 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.869 * [backup-simplify]: Simplify (+ 0 0) into 0 5.869 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 5.869 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 5.869 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 5.870 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 5.870 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 5.870 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 5.870 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 5.870 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 5.870 * [taylor]: Taking taylor expansion of phi2 in phi2 5.870 * [backup-simplify]: Simplify 0 into 0 5.870 * [backup-simplify]: Simplify 1 into 1 5.870 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.870 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.870 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.870 * [backup-simplify]: Simplify -0.5 into -0.5 5.870 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.870 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.870 * [taylor]: Taking taylor expansion of phi1 in phi2 5.870 * [backup-simplify]: Simplify phi1 into phi1 5.870 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.870 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.870 * [taylor]: Taking taylor expansion of phi2 in phi2 5.870 * [backup-simplify]: Simplify 0 into 0 5.870 * [backup-simplify]: Simplify 1 into 1 5.870 * [backup-simplify]: Simplify (/ 1 1) into 1 5.871 * [backup-simplify]: Simplify (+ 0 1) into 1 5.871 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.871 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.871 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.872 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.872 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.872 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.872 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 5.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.873 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.873 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.873 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.873 * [backup-simplify]: Simplify (+ 0 0) into 0 5.874 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.875 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.875 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.875 * [backup-simplify]: Simplify (- 0) into 0 5.876 * [backup-simplify]: Simplify (+ 0 0) into 0 5.877 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.877 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 5.878 * [taylor]: Taking taylor expansion of 0 in phi1 5.878 * [backup-simplify]: Simplify 0 into 0 5.878 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.879 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.879 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 5.879 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 5.879 * [backup-simplify]: Simplify (+ 0 0) into 0 5.880 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 5.880 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.880 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 5.881 * [backup-simplify]: Simplify (- 0) into 0 5.881 * [backup-simplify]: Simplify (+ 0 0) into 0 5.881 * [taylor]: Taking taylor expansion of 0 in phi1 5.881 * [backup-simplify]: Simplify 0 into 0 5.881 * [taylor]: Taking taylor expansion of 0 in phi2 5.881 * [backup-simplify]: Simplify 0 into 0 5.881 * [taylor]: Taking taylor expansion of 0 in phi2 5.881 * [backup-simplify]: Simplify 0 into 0 5.881 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.881 * [taylor]: Taking taylor expansion of 0 in phi2 5.882 * [backup-simplify]: Simplify 0 into 0 5.882 * [taylor]: Taking taylor expansion of 0 in phi2 5.882 * [backup-simplify]: Simplify 0 into 0 5.882 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.882 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 5.883 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1)))) (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1)))))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2))))))) into (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))))) 5.883 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2) 5.883 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi1 phi2))) 5.883 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi1 phi2) around 0 5.883 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 5.883 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 5.883 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.883 * [backup-simplify]: Simplify 0.5 into 0.5 5.883 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 5.883 * [taylor]: Taking taylor expansion of phi1 in phi2 5.883 * [backup-simplify]: Simplify phi1 into phi1 5.883 * [taylor]: Taking taylor expansion of phi2 in phi2 5.883 * [backup-simplify]: Simplify 0 into 0 5.883 * [backup-simplify]: Simplify 1 into 1 5.883 * [backup-simplify]: Simplify (+ phi1 0) into phi1 5.883 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.883 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.884 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.884 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.884 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.884 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.884 * [backup-simplify]: Simplify 0.5 into 0.5 5.884 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.884 * [taylor]: Taking taylor expansion of phi1 in phi1 5.884 * [backup-simplify]: Simplify 0 into 0 5.884 * [backup-simplify]: Simplify 1 into 1 5.884 * [taylor]: Taking taylor expansion of phi2 in phi1 5.884 * [backup-simplify]: Simplify phi2 into phi2 5.884 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.884 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.884 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.884 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.884 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.884 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.884 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.884 * [backup-simplify]: Simplify 0.5 into 0.5 5.884 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.884 * [taylor]: Taking taylor expansion of phi1 in phi1 5.884 * [backup-simplify]: Simplify 0 into 0 5.884 * [backup-simplify]: Simplify 1 into 1 5.884 * [taylor]: Taking taylor expansion of phi2 in phi1 5.884 * [backup-simplify]: Simplify phi2 into phi2 5.884 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.884 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.884 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.885 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.885 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.885 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.885 * [backup-simplify]: Simplify (- 0) into 0 5.885 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.885 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.885 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.885 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.885 * [backup-simplify]: Simplify 0.5 into 0.5 5.885 * [taylor]: Taking taylor expansion of phi2 in phi2 5.885 * [backup-simplify]: Simplify 0 into 0 5.885 * [backup-simplify]: Simplify 1 into 1 5.886 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.887 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.887 * [backup-simplify]: Simplify 1 into 1 5.888 * [backup-simplify]: Simplify (+ 0) into 0 5.888 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 5.888 * [backup-simplify]: Simplify (+ 1 0) into 1 5.891 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 5.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.894 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 5.894 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.894 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.894 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 5.894 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 5.894 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.894 * [backup-simplify]: Simplify 0.5 into 0.5 5.894 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 5.894 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.894 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.894 * [backup-simplify]: Simplify 0.5 into 0.5 5.894 * [taylor]: Taking taylor expansion of phi2 in phi2 5.894 * [backup-simplify]: Simplify 0 into 0 5.894 * [backup-simplify]: Simplify 1 into 1 5.894 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.895 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.895 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.896 * [backup-simplify]: Simplify (- 0) into 0 5.896 * [backup-simplify]: Simplify 0 into 0 5.896 * [backup-simplify]: Simplify (+ 0) into 0 5.896 * [backup-simplify]: Simplify 0 into 0 5.898 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 5.898 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 5.899 * [backup-simplify]: Simplify (+ 0 0) into 0 5.899 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 5.900 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.900 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 5.900 * [backup-simplify]: Simplify (- 0) into 0 5.900 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 5.900 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 5.900 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 5.900 * [taylor]: Taking taylor expansion of 0.125 in phi2 5.900 * [backup-simplify]: Simplify 0.125 into 0.125 5.900 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.900 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.900 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.900 * [backup-simplify]: Simplify 0.5 into 0.5 5.900 * [taylor]: Taking taylor expansion of phi2 in phi2 5.901 * [backup-simplify]: Simplify 0 into 0 5.901 * [backup-simplify]: Simplify 1 into 1 5.901 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.902 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.902 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 5.902 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 5.903 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 5.904 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.905 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 5.905 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 5.906 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 5.906 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) 5.906 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.906 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 5.906 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.907 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.907 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.907 * [backup-simplify]: Simplify 0.5 into 0.5 5.907 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.907 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.907 * [taylor]: Taking taylor expansion of phi1 in phi2 5.907 * [backup-simplify]: Simplify phi1 into phi1 5.907 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.907 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.907 * [taylor]: Taking taylor expansion of phi2 in phi2 5.907 * [backup-simplify]: Simplify 0 into 0 5.907 * [backup-simplify]: Simplify 1 into 1 5.907 * [backup-simplify]: Simplify (/ 1 1) into 1 5.907 * [backup-simplify]: Simplify (+ 0 1) into 1 5.907 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.908 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.908 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.908 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.908 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.908 * [backup-simplify]: Simplify 0.5 into 0.5 5.908 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.908 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.908 * [taylor]: Taking taylor expansion of phi1 in phi1 5.908 * [backup-simplify]: Simplify 0 into 0 5.908 * [backup-simplify]: Simplify 1 into 1 5.908 * [backup-simplify]: Simplify (/ 1 1) into 1 5.908 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.908 * [taylor]: Taking taylor expansion of phi2 in phi1 5.908 * [backup-simplify]: Simplify phi2 into phi2 5.908 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.908 * [backup-simplify]: Simplify (+ 1 0) into 1 5.909 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.909 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.909 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.909 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.909 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.909 * [backup-simplify]: Simplify 0.5 into 0.5 5.909 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.909 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.909 * [taylor]: Taking taylor expansion of phi1 in phi1 5.909 * [backup-simplify]: Simplify 0 into 0 5.909 * [backup-simplify]: Simplify 1 into 1 5.909 * [backup-simplify]: Simplify (/ 1 1) into 1 5.909 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.909 * [taylor]: Taking taylor expansion of phi2 in phi1 5.909 * [backup-simplify]: Simplify phi2 into phi2 5.909 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.909 * [backup-simplify]: Simplify (+ 1 0) into 1 5.910 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.910 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.910 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.910 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.910 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.910 * [backup-simplify]: Simplify 0.5 into 0.5 5.910 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.910 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.910 * [taylor]: Taking taylor expansion of phi1 in phi2 5.910 * [backup-simplify]: Simplify phi1 into phi1 5.910 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.910 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.910 * [taylor]: Taking taylor expansion of phi2 in phi2 5.910 * [backup-simplify]: Simplify 0 into 0 5.910 * [backup-simplify]: Simplify 1 into 1 5.910 * [backup-simplify]: Simplify (/ 1 1) into 1 5.911 * [backup-simplify]: Simplify (+ 0 1) into 1 5.911 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.911 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.911 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.911 * [taylor]: Taking taylor expansion of 0 in phi2 5.911 * [backup-simplify]: Simplify 0 into 0 5.911 * [backup-simplify]: Simplify 0 into 0 5.911 * [backup-simplify]: Simplify 0 into 0 5.911 * [taylor]: Taking taylor expansion of 0 in phi2 5.911 * [backup-simplify]: Simplify 0 into 0 5.911 * [backup-simplify]: Simplify 0 into 0 5.911 * [backup-simplify]: Simplify 0 into 0 5.911 * [backup-simplify]: Simplify 0 into 0 5.911 * [taylor]: Taking taylor expansion of 0 in phi2 5.911 * [backup-simplify]: Simplify 0 into 0 5.911 * [backup-simplify]: Simplify 0 into 0 5.911 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2))) 5.912 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.912 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 5.912 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.912 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.912 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.912 * [backup-simplify]: Simplify -0.5 into -0.5 5.912 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.912 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.912 * [taylor]: Taking taylor expansion of phi1 in phi2 5.912 * [backup-simplify]: Simplify phi1 into phi1 5.912 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.912 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.912 * [taylor]: Taking taylor expansion of phi2 in phi2 5.912 * [backup-simplify]: Simplify 0 into 0 5.912 * [backup-simplify]: Simplify 1 into 1 5.912 * [backup-simplify]: Simplify (/ 1 1) into 1 5.912 * [backup-simplify]: Simplify (+ 0 1) into 1 5.913 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.913 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.913 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.913 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.913 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.913 * [backup-simplify]: Simplify -0.5 into -0.5 5.913 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.913 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.913 * [taylor]: Taking taylor expansion of phi1 in phi1 5.913 * [backup-simplify]: Simplify 0 into 0 5.913 * [backup-simplify]: Simplify 1 into 1 5.913 * [backup-simplify]: Simplify (/ 1 1) into 1 5.913 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.913 * [taylor]: Taking taylor expansion of phi2 in phi1 5.913 * [backup-simplify]: Simplify phi2 into phi2 5.913 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.914 * [backup-simplify]: Simplify (+ 1 0) into 1 5.914 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.914 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.914 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.914 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.914 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.914 * [backup-simplify]: Simplify -0.5 into -0.5 5.914 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.914 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.914 * [taylor]: Taking taylor expansion of phi1 in phi1 5.914 * [backup-simplify]: Simplify 0 into 0 5.914 * [backup-simplify]: Simplify 1 into 1 5.914 * [backup-simplify]: Simplify (/ 1 1) into 1 5.914 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.914 * [taylor]: Taking taylor expansion of phi2 in phi1 5.914 * [backup-simplify]: Simplify phi2 into phi2 5.914 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.915 * [backup-simplify]: Simplify (+ 1 0) into 1 5.915 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.915 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.915 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.915 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.915 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.915 * [backup-simplify]: Simplify -0.5 into -0.5 5.915 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.915 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.915 * [taylor]: Taking taylor expansion of phi1 in phi2 5.915 * [backup-simplify]: Simplify phi1 into phi1 5.915 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.915 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.915 * [taylor]: Taking taylor expansion of phi2 in phi2 5.915 * [backup-simplify]: Simplify 0 into 0 5.915 * [backup-simplify]: Simplify 1 into 1 5.916 * [backup-simplify]: Simplify (/ 1 1) into 1 5.916 * [backup-simplify]: Simplify (+ 0 1) into 1 5.916 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.916 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.916 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.916 * [taylor]: Taking taylor expansion of 0 in phi2 5.916 * [backup-simplify]: Simplify 0 into 0 5.916 * [backup-simplify]: Simplify 0 into 0 5.916 * [backup-simplify]: Simplify 0 into 0 5.916 * [taylor]: Taking taylor expansion of 0 in phi2 5.916 * [backup-simplify]: Simplify 0 into 0 5.916 * [backup-simplify]: Simplify 0 into 0 5.917 * [backup-simplify]: Simplify 0 into 0 5.917 * [backup-simplify]: Simplify 0 into 0 5.917 * [taylor]: Taking taylor expansion of 0 in phi2 5.917 * [backup-simplify]: Simplify 0 into 0 5.917 * [backup-simplify]: Simplify 0 into 0 5.917 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2))) 5.917 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1 2) 5.917 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi1 phi2))) 5.917 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi1 phi2) around 0 5.917 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 5.917 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 5.917 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.917 * [backup-simplify]: Simplify 0.5 into 0.5 5.917 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 5.917 * [taylor]: Taking taylor expansion of phi1 in phi2 5.917 * [backup-simplify]: Simplify phi1 into phi1 5.917 * [taylor]: Taking taylor expansion of phi2 in phi2 5.917 * [backup-simplify]: Simplify 0 into 0 5.917 * [backup-simplify]: Simplify 1 into 1 5.917 * [backup-simplify]: Simplify (+ phi1 0) into phi1 5.917 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.917 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.917 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.917 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.917 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.917 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.917 * [backup-simplify]: Simplify 0.5 into 0.5 5.917 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.917 * [taylor]: Taking taylor expansion of phi1 in phi1 5.917 * [backup-simplify]: Simplify 0 into 0 5.917 * [backup-simplify]: Simplify 1 into 1 5.917 * [taylor]: Taking taylor expansion of phi2 in phi1 5.917 * [backup-simplify]: Simplify phi2 into phi2 5.917 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.917 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.917 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.918 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.918 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.918 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.918 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.918 * [backup-simplify]: Simplify 0.5 into 0.5 5.918 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.918 * [taylor]: Taking taylor expansion of phi1 in phi1 5.918 * [backup-simplify]: Simplify 0 into 0 5.918 * [backup-simplify]: Simplify 1 into 1 5.918 * [taylor]: Taking taylor expansion of phi2 in phi1 5.918 * [backup-simplify]: Simplify phi2 into phi2 5.918 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.918 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.918 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.918 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.918 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.918 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.918 * [backup-simplify]: Simplify (- 0) into 0 5.918 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.918 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.918 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.918 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.918 * [backup-simplify]: Simplify 0.5 into 0.5 5.918 * [taylor]: Taking taylor expansion of phi2 in phi2 5.918 * [backup-simplify]: Simplify 0 into 0 5.918 * [backup-simplify]: Simplify 1 into 1 5.919 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.920 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.920 * [backup-simplify]: Simplify 1 into 1 5.920 * [backup-simplify]: Simplify (+ 0) into 0 5.920 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 5.920 * [backup-simplify]: Simplify (+ 1 0) into 1 5.921 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 5.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.922 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 5.923 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.923 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 5.923 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 5.923 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 5.923 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.923 * [backup-simplify]: Simplify 0.5 into 0.5 5.923 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 5.923 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.923 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.923 * [backup-simplify]: Simplify 0.5 into 0.5 5.923 * [taylor]: Taking taylor expansion of phi2 in phi2 5.923 * [backup-simplify]: Simplify 0 into 0 5.923 * [backup-simplify]: Simplify 1 into 1 5.923 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.924 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.924 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.925 * [backup-simplify]: Simplify (- 0) into 0 5.925 * [backup-simplify]: Simplify 0 into 0 5.925 * [backup-simplify]: Simplify (+ 0) into 0 5.925 * [backup-simplify]: Simplify 0 into 0 5.927 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 5.928 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 5.928 * [backup-simplify]: Simplify (+ 0 0) into 0 5.928 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 5.929 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.929 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 5.930 * [backup-simplify]: Simplify (- 0) into 0 5.930 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 5.930 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 5.930 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 5.930 * [taylor]: Taking taylor expansion of 0.125 in phi2 5.930 * [backup-simplify]: Simplify 0.125 into 0.125 5.930 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.930 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.930 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.930 * [backup-simplify]: Simplify 0.5 into 0.5 5.930 * [taylor]: Taking taylor expansion of phi2 in phi2 5.930 * [backup-simplify]: Simplify 0 into 0 5.930 * [backup-simplify]: Simplify 1 into 1 5.930 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.931 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.931 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 5.932 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 5.932 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 5.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 5.934 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 5.934 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 5.935 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 5.936 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) 5.936 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.936 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 5.936 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.936 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.936 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.936 * [backup-simplify]: Simplify 0.5 into 0.5 5.936 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.936 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.936 * [taylor]: Taking taylor expansion of phi1 in phi2 5.936 * [backup-simplify]: Simplify phi1 into phi1 5.936 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.936 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.936 * [taylor]: Taking taylor expansion of phi2 in phi2 5.936 * [backup-simplify]: Simplify 0 into 0 5.936 * [backup-simplify]: Simplify 1 into 1 5.936 * [backup-simplify]: Simplify (/ 1 1) into 1 5.937 * [backup-simplify]: Simplify (+ 0 1) into 1 5.937 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.937 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.937 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.937 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.937 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.937 * [backup-simplify]: Simplify 0.5 into 0.5 5.937 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.937 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.937 * [taylor]: Taking taylor expansion of phi1 in phi1 5.937 * [backup-simplify]: Simplify 0 into 0 5.937 * [backup-simplify]: Simplify 1 into 1 5.937 * [backup-simplify]: Simplify (/ 1 1) into 1 5.937 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.937 * [taylor]: Taking taylor expansion of phi2 in phi1 5.937 * [backup-simplify]: Simplify phi2 into phi2 5.937 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.938 * [backup-simplify]: Simplify (+ 1 0) into 1 5.938 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.938 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.938 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.938 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.938 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.938 * [backup-simplify]: Simplify 0.5 into 0.5 5.938 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.938 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.938 * [taylor]: Taking taylor expansion of phi1 in phi1 5.938 * [backup-simplify]: Simplify 0 into 0 5.938 * [backup-simplify]: Simplify 1 into 1 5.938 * [backup-simplify]: Simplify (/ 1 1) into 1 5.938 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.938 * [taylor]: Taking taylor expansion of phi2 in phi1 5.939 * [backup-simplify]: Simplify phi2 into phi2 5.939 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.939 * [backup-simplify]: Simplify (+ 1 0) into 1 5.939 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.939 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.939 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.939 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.939 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.939 * [backup-simplify]: Simplify 0.5 into 0.5 5.939 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.939 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.939 * [taylor]: Taking taylor expansion of phi1 in phi2 5.939 * [backup-simplify]: Simplify phi1 into phi1 5.939 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.939 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.939 * [taylor]: Taking taylor expansion of phi2 in phi2 5.939 * [backup-simplify]: Simplify 0 into 0 5.940 * [backup-simplify]: Simplify 1 into 1 5.940 * [backup-simplify]: Simplify (/ 1 1) into 1 5.940 * [backup-simplify]: Simplify (+ 0 1) into 1 5.940 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.940 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.940 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.941 * [taylor]: Taking taylor expansion of 0 in phi2 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [taylor]: Taking taylor expansion of 0 in phi2 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [taylor]: Taking taylor expansion of 0 in phi2 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2))) 5.941 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.941 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 5.941 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.941 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.941 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.941 * [backup-simplify]: Simplify -0.5 into -0.5 5.941 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.941 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.941 * [taylor]: Taking taylor expansion of phi1 in phi2 5.941 * [backup-simplify]: Simplify phi1 into phi1 5.941 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.941 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.941 * [taylor]: Taking taylor expansion of phi2 in phi2 5.941 * [backup-simplify]: Simplify 0 into 0 5.941 * [backup-simplify]: Simplify 1 into 1 5.941 * [backup-simplify]: Simplify (/ 1 1) into 1 5.942 * [backup-simplify]: Simplify (+ 0 1) into 1 5.942 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.942 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.942 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.942 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.942 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.942 * [backup-simplify]: Simplify -0.5 into -0.5 5.942 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.942 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.942 * [taylor]: Taking taylor expansion of phi1 in phi1 5.942 * [backup-simplify]: Simplify 0 into 0 5.942 * [backup-simplify]: Simplify 1 into 1 5.943 * [backup-simplify]: Simplify (/ 1 1) into 1 5.943 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.943 * [taylor]: Taking taylor expansion of phi2 in phi1 5.943 * [backup-simplify]: Simplify phi2 into phi2 5.943 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.943 * [backup-simplify]: Simplify (+ 1 0) into 1 5.943 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.944 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.944 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.944 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.944 * [taylor]: Taking taylor expansion of -0.5 in phi1 5.944 * [backup-simplify]: Simplify -0.5 into -0.5 5.944 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.944 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.944 * [taylor]: Taking taylor expansion of phi1 in phi1 5.944 * [backup-simplify]: Simplify 0 into 0 5.944 * [backup-simplify]: Simplify 1 into 1 5.944 * [backup-simplify]: Simplify (/ 1 1) into 1 5.944 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.944 * [taylor]: Taking taylor expansion of phi2 in phi1 5.944 * [backup-simplify]: Simplify phi2 into phi2 5.944 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.945 * [backup-simplify]: Simplify (+ 1 0) into 1 5.945 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.945 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.945 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.945 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.945 * [taylor]: Taking taylor expansion of -0.5 in phi2 5.945 * [backup-simplify]: Simplify -0.5 into -0.5 5.945 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.945 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.946 * [taylor]: Taking taylor expansion of phi1 in phi2 5.946 * [backup-simplify]: Simplify phi1 into phi1 5.946 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.946 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.946 * [taylor]: Taking taylor expansion of phi2 in phi2 5.946 * [backup-simplify]: Simplify 0 into 0 5.946 * [backup-simplify]: Simplify 1 into 1 5.946 * [backup-simplify]: Simplify (/ 1 1) into 1 5.946 * [backup-simplify]: Simplify (+ 0 1) into 1 5.946 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 5.947 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.947 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.947 * [taylor]: Taking taylor expansion of 0 in phi2 5.947 * [backup-simplify]: Simplify 0 into 0 5.947 * [backup-simplify]: Simplify 0 into 0 5.947 * [backup-simplify]: Simplify 0 into 0 5.947 * [taylor]: Taking taylor expansion of 0 in phi2 5.947 * [backup-simplify]: Simplify 0 into 0 5.947 * [backup-simplify]: Simplify 0 into 0 5.947 * [backup-simplify]: Simplify 0 into 0 5.947 * [backup-simplify]: Simplify 0 into 0 5.947 * [taylor]: Taking taylor expansion of 0 in phi2 5.947 * [backup-simplify]: Simplify 0 into 0 5.947 * [backup-simplify]: Simplify 0 into 0 5.947 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2))) 5.947 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1) 5.947 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.947 * [approximate]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in (lambda1 lambda2 phi1 phi2) around 0 5.947 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 5.947 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in phi2 5.947 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2 5.947 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.947 * [backup-simplify]: Simplify lambda1 into lambda1 5.947 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.947 * [backup-simplify]: Simplify lambda2 into lambda2 5.947 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.948 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 5.948 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 5.948 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 5.948 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 5.948 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.948 * [backup-simplify]: Simplify 0.5 into 0.5 5.948 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 5.948 * [taylor]: Taking taylor expansion of phi1 in phi2 5.948 * [backup-simplify]: Simplify phi1 into phi1 5.948 * [taylor]: Taking taylor expansion of phi2 in phi2 5.948 * [backup-simplify]: Simplify 0 into 0 5.948 * [backup-simplify]: Simplify 1 into 1 5.948 * [backup-simplify]: Simplify (+ phi1 0) into phi1 5.948 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 5.948 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 5.948 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 5.948 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 5.948 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 5.948 * [backup-simplify]: Simplify (- 0) into 0 5.948 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 5.948 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 5.948 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in phi1 5.948 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1 5.948 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.948 * [backup-simplify]: Simplify lambda1 into lambda1 5.948 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.948 * [backup-simplify]: Simplify lambda2 into lambda2 5.948 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.948 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2) 5.949 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 5.949 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.949 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.949 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.949 * [backup-simplify]: Simplify 0.5 into 0.5 5.949 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.949 * [taylor]: Taking taylor expansion of phi1 in phi1 5.949 * [backup-simplify]: Simplify 0 into 0 5.949 * [backup-simplify]: Simplify 1 into 1 5.949 * [taylor]: Taking taylor expansion of phi2 in phi1 5.949 * [backup-simplify]: Simplify phi2 into phi2 5.949 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.949 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.949 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.949 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.949 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.949 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.949 * [backup-simplify]: Simplify (- 0) into 0 5.949 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.949 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 5.949 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda2 5.949 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2 5.949 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.949 * [backup-simplify]: Simplify lambda1 into lambda1 5.949 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.949 * [backup-simplify]: Simplify 0 into 0 5.949 * [backup-simplify]: Simplify 1 into 1 5.950 * [backup-simplify]: Simplify (- 0) into 0 5.950 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1 5.950 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.950 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.950 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.950 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.950 * [backup-simplify]: Simplify 0.5 into 0.5 5.950 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.950 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.950 * [backup-simplify]: Simplify phi1 into phi1 5.950 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.950 * [backup-simplify]: Simplify phi2 into phi2 5.950 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.950 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.950 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.950 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.950 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.950 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.950 * [backup-simplify]: Simplify (- 0) into 0 5.950 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.951 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 5.951 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda1 5.951 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 5.951 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.951 * [backup-simplify]: Simplify 0 into 0 5.951 * [backup-simplify]: Simplify 1 into 1 5.951 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.951 * [backup-simplify]: Simplify lambda2 into lambda2 5.951 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.951 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 5.951 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 5.951 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 5.951 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 5.951 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.951 * [backup-simplify]: Simplify 0.5 into 0.5 5.951 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 5.951 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.951 * [backup-simplify]: Simplify phi1 into phi1 5.951 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.951 * [backup-simplify]: Simplify phi2 into phi2 5.951 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.951 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.951 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.951 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.951 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.951 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.951 * [backup-simplify]: Simplify (- 0) into 0 5.952 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.952 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 5.952 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda1 5.952 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1 5.952 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.952 * [backup-simplify]: Simplify 0 into 0 5.952 * [backup-simplify]: Simplify 1 into 1 5.952 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.952 * [backup-simplify]: Simplify lambda2 into lambda2 5.952 * [backup-simplify]: Simplify (- lambda2) into (- lambda2) 5.952 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2) 5.952 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 5.952 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 5.952 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 5.952 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.952 * [backup-simplify]: Simplify 0.5 into 0.5 5.952 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 5.952 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.952 * [backup-simplify]: Simplify phi1 into phi1 5.952 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.952 * [backup-simplify]: Simplify phi2 into phi2 5.952 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.952 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.952 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.952 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.952 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.952 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.952 * [backup-simplify]: Simplify (- 0) into 0 5.953 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.953 * [backup-simplify]: Simplify (* (- lambda2) (- lambda2)) into (pow lambda2 2) 5.953 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.953 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.953 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 5.953 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 5.953 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.953 * [backup-simplify]: Simplify 0 into 0 5.953 * [backup-simplify]: Simplify 1 into 1 5.953 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.953 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.953 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.953 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.953 * [backup-simplify]: Simplify 0.5 into 0.5 5.953 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.953 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.953 * [backup-simplify]: Simplify phi1 into phi1 5.953 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.953 * [backup-simplify]: Simplify phi2 into phi2 5.953 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.953 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.953 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.953 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.954 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.954 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.954 * [backup-simplify]: Simplify (- 0) into 0 5.954 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.954 * [backup-simplify]: Simplify (+ 0) into 0 5.955 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 5.955 * [backup-simplify]: Simplify (+ 0 0) into 0 5.955 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 5.956 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.956 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 5.956 * [backup-simplify]: Simplify (- 0) into 0 5.956 * [backup-simplify]: Simplify (+ 0 0) into 0 5.957 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 5.957 * [backup-simplify]: Simplify (- 0) into 0 5.957 * [backup-simplify]: Simplify (+ 1 0) into 1 5.957 * [backup-simplify]: Simplify (+ (* (- lambda2) 1) (* 1 (- lambda2))) into (- (* 2 lambda2)) 5.957 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* (- (* 2 lambda2)) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 5.957 * [taylor]: Taking taylor expansion of (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 5.958 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 5.958 * [taylor]: Taking taylor expansion of 2 in lambda2 5.958 * [backup-simplify]: Simplify 2 into 2 5.958 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 5.958 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.958 * [backup-simplify]: Simplify 0 into 0 5.958 * [backup-simplify]: Simplify 1 into 1 5.958 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.958 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.958 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.958 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.958 * [backup-simplify]: Simplify 0.5 into 0.5 5.958 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.958 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.958 * [backup-simplify]: Simplify phi1 into phi1 5.958 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.958 * [backup-simplify]: Simplify phi2 into phi2 5.958 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.958 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.958 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.958 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.958 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.958 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.958 * [backup-simplify]: Simplify (- 0) into 0 5.958 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.959 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.959 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 5.959 * [backup-simplify]: Simplify (* 2 0) into 0 5.959 * [backup-simplify]: Simplify (- 0) into 0 5.959 * [taylor]: Taking taylor expansion of 0 in phi1 5.959 * [backup-simplify]: Simplify 0 into 0 5.959 * [taylor]: Taking taylor expansion of 0 in phi2 5.959 * [backup-simplify]: Simplify 0 into 0 5.959 * [backup-simplify]: Simplify 0 into 0 5.960 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.960 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0 5.961 * [backup-simplify]: Simplify (+ 0 0) into 0 5.961 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0 5.962 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 5.962 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0 5.962 * [backup-simplify]: Simplify (- 0) into 0 5.962 * [backup-simplify]: Simplify (+ 0 0) into 0 5.963 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0 5.963 * [backup-simplify]: Simplify (- 0) into 0 5.963 * [backup-simplify]: Simplify (+ 0 0) into 0 5.964 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 1) (* 0 (- lambda2)))) into 1 5.964 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* (- (* 2 lambda2)) 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.964 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 5.964 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 5.964 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 5.964 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.964 * [backup-simplify]: Simplify 0.5 into 0.5 5.964 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 5.964 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.964 * [backup-simplify]: Simplify phi1 into phi1 5.964 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.964 * [backup-simplify]: Simplify phi2 into phi2 5.964 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 5.964 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 5.964 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 5.964 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 5.964 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 5.965 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 5.965 * [backup-simplify]: Simplify (- 0) into 0 5.965 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 5.965 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.965 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 5.965 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.965 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.965 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.965 * [backup-simplify]: Simplify 0.5 into 0.5 5.965 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.965 * [taylor]: Taking taylor expansion of phi1 in phi1 5.965 * [backup-simplify]: Simplify 0 into 0 5.965 * [backup-simplify]: Simplify 1 into 1 5.965 * [taylor]: Taking taylor expansion of phi2 in phi1 5.965 * [backup-simplify]: Simplify phi2 into phi2 5.965 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.965 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.965 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.965 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.965 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.965 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.966 * [backup-simplify]: Simplify (- 0) into 0 5.966 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.966 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.966 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.966 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.966 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.966 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.966 * [backup-simplify]: Simplify 0.5 into 0.5 5.966 * [taylor]: Taking taylor expansion of phi2 in phi2 5.966 * [backup-simplify]: Simplify 0 into 0 5.966 * [backup-simplify]: Simplify 1 into 1 5.966 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.967 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.967 * [backup-simplify]: Simplify (* 1 1) into 1 5.967 * [backup-simplify]: Simplify 1 into 1 5.968 * [backup-simplify]: Simplify (+ 0) into 0 5.968 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 5.968 * [backup-simplify]: Simplify (+ 0 0) into 0 5.969 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 5.969 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.969 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 5.970 * [backup-simplify]: Simplify (- 0) into 0 5.970 * [backup-simplify]: Simplify (+ 0 0) into 0 5.970 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 5.970 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.971 * [backup-simplify]: Simplify (+ (* 2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0)) into (* 2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 5.971 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 5.971 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 5.971 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 5.971 * [taylor]: Taking taylor expansion of 2 in phi1 5.971 * [backup-simplify]: Simplify 2 into 2 5.971 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 5.971 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.971 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.971 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.971 * [backup-simplify]: Simplify 0.5 into 0.5 5.971 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.971 * [taylor]: Taking taylor expansion of phi1 in phi1 5.971 * [backup-simplify]: Simplify 0 into 0 5.971 * [backup-simplify]: Simplify 1 into 1 5.971 * [taylor]: Taking taylor expansion of phi2 in phi1 5.971 * [backup-simplify]: Simplify phi2 into phi2 5.971 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.971 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.971 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.971 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.972 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.972 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.972 * [backup-simplify]: Simplify (- 0) into 0 5.972 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.972 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.972 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 phi2)) 2)) into (* 2 (pow (cos (* 0.5 phi2)) 2)) 5.972 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 phi2)) 2))) into (- (* 2 (pow (cos (* 0.5 phi2)) 2))) 5.972 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 phi2)) 2))) in phi2 5.972 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 phi2)) 2)) in phi2 5.972 * [taylor]: Taking taylor expansion of 2 in phi2 5.972 * [backup-simplify]: Simplify 2 into 2 5.972 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.972 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.972 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.972 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.972 * [backup-simplify]: Simplify 0.5 into 0.5 5.972 * [taylor]: Taking taylor expansion of phi2 in phi2 5.972 * [backup-simplify]: Simplify 0 into 0 5.972 * [backup-simplify]: Simplify 1 into 1 5.973 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.974 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.974 * [backup-simplify]: Simplify (* 1 1) into 1 5.974 * [backup-simplify]: Simplify (* 2 1) into 2 5.974 * [backup-simplify]: Simplify (- 2) into -2 5.974 * [backup-simplify]: Simplify -2 into -2 5.975 * [backup-simplify]: Simplify (* 1 1) into 1 5.975 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.975 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 5.975 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 5.975 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 5.975 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 5.975 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.975 * [backup-simplify]: Simplify 0.5 into 0.5 5.975 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 5.975 * [taylor]: Taking taylor expansion of phi1 in phi1 5.975 * [backup-simplify]: Simplify 0 into 0 5.975 * [backup-simplify]: Simplify 1 into 1 5.975 * [taylor]: Taking taylor expansion of phi2 in phi1 5.975 * [backup-simplify]: Simplify phi2 into phi2 5.975 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 5.975 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 5.975 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 5.975 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 5.975 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 5.976 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 5.976 * [backup-simplify]: Simplify (- 0) into 0 5.976 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 5.976 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 5.976 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 5.976 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 5.976 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 5.976 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.976 * [backup-simplify]: Simplify 0.5 into 0.5 5.976 * [taylor]: Taking taylor expansion of phi2 in phi2 5.976 * [backup-simplify]: Simplify 0 into 0 5.976 * [backup-simplify]: Simplify 1 into 1 5.976 * [backup-simplify]: Simplify (* 0.5 0) into 0 5.977 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 5.977 * [backup-simplify]: Simplify (* 1 1) into 1 5.978 * [backup-simplify]: Simplify 1 into 1 5.978 * [backup-simplify]: Simplify (+ (* 1 (pow (* 1 (* 1 (* lambda2 1))) 2)) (+ (* -2 (* 1 (* 1 (* lambda2 lambda1)))) (* 1 (pow (* 1 (* 1 (* 1 lambda1))) 2)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1))) 5.978 * [backup-simplify]: Simplify (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) into (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) 5.978 * [approximate]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) in (lambda1 lambda2 phi1 phi2) around 0 5.978 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) in phi2 5.978 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 5.978 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 5.978 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 5.978 * [taylor]: Taking taylor expansion of 0.5 in phi2 5.978 * [backup-simplify]: Simplify 0.5 into 0.5 5.978 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 5.978 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 5.978 * [taylor]: Taking taylor expansion of phi1 in phi2 5.978 * [backup-simplify]: Simplify phi1 into phi1 5.978 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.978 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 5.978 * [taylor]: Taking taylor expansion of phi2 in phi2 5.978 * [backup-simplify]: Simplify 0 into 0 5.979 * [backup-simplify]: Simplify 1 into 1 5.979 * [backup-simplify]: Simplify (/ 1 1) into 1 5.979 * [backup-simplify]: Simplify (+ 0 1) into 1 5.979 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.979 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.979 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in phi2 5.979 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2 5.979 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 5.979 * [taylor]: Taking taylor expansion of lambda1 in phi2 5.979 * [backup-simplify]: Simplify lambda1 into lambda1 5.980 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.980 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 5.980 * [taylor]: Taking taylor expansion of lambda2 in phi2 5.980 * [backup-simplify]: Simplify lambda2 into lambda2 5.980 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.980 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 5.980 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 5.980 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) in phi1 5.980 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 5.980 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 5.980 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 5.980 * [taylor]: Taking taylor expansion of 0.5 in phi1 5.980 * [backup-simplify]: Simplify 0.5 into 0.5 5.980 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 5.980 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 5.980 * [taylor]: Taking taylor expansion of phi1 in phi1 5.980 * [backup-simplify]: Simplify 0 into 0 5.980 * [backup-simplify]: Simplify 1 into 1 5.980 * [backup-simplify]: Simplify (/ 1 1) into 1 5.980 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 5.980 * [taylor]: Taking taylor expansion of phi2 in phi1 5.980 * [backup-simplify]: Simplify phi2 into phi2 5.980 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.981 * [backup-simplify]: Simplify (+ 1 0) into 1 5.981 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 5.981 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.981 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in phi1 5.981 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1 5.981 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 5.981 * [taylor]: Taking taylor expansion of lambda1 in phi1 5.981 * [backup-simplify]: Simplify lambda1 into lambda1 5.981 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.981 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 5.981 * [taylor]: Taking taylor expansion of lambda2 in phi1 5.981 * [backup-simplify]: Simplify lambda2 into lambda2 5.981 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.981 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 5.981 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2)) 5.981 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) in lambda2 5.981 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.981 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.981 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.981 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.981 * [backup-simplify]: Simplify 0.5 into 0.5 5.981 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.981 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.981 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.981 * [backup-simplify]: Simplify phi1 into phi1 5.981 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.981 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.981 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.981 * [backup-simplify]: Simplify phi2 into phi2 5.981 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.982 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.982 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.982 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.982 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.982 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.982 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.982 * [backup-simplify]: Simplify (- 0) into 0 5.982 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.982 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda2 5.982 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2 5.982 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 5.982 * [taylor]: Taking taylor expansion of lambda1 in lambda2 5.982 * [backup-simplify]: Simplify lambda1 into lambda1 5.982 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 5.983 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 5.983 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.983 * [backup-simplify]: Simplify 0 into 0 5.983 * [backup-simplify]: Simplify 1 into 1 5.983 * [backup-simplify]: Simplify (/ 1 1) into 1 5.983 * [backup-simplify]: Simplify (- 1) into -1 5.983 * [backup-simplify]: Simplify (+ 0 -1) into -1 5.983 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) in lambda1 5.983 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.983 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.983 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.983 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.983 * [backup-simplify]: Simplify 0.5 into 0.5 5.983 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.983 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.983 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.983 * [backup-simplify]: Simplify phi1 into phi1 5.984 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.984 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.984 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.984 * [backup-simplify]: Simplify phi2 into phi2 5.984 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.984 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.984 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.984 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.984 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.984 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.984 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.984 * [backup-simplify]: Simplify (- 0) into 0 5.984 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.985 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda1 5.985 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 5.985 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.985 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.985 * [backup-simplify]: Simplify 0 into 0 5.985 * [backup-simplify]: Simplify 1 into 1 5.985 * [backup-simplify]: Simplify (/ 1 1) into 1 5.985 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.985 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.985 * [backup-simplify]: Simplify lambda2 into lambda2 5.985 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.985 * [backup-simplify]: Simplify (+ 1 0) into 1 5.985 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2)) in lambda1 5.985 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 5.985 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 5.985 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 5.985 * [taylor]: Taking taylor expansion of 0.5 in lambda1 5.985 * [backup-simplify]: Simplify 0.5 into 0.5 5.985 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 5.985 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 5.985 * [taylor]: Taking taylor expansion of phi1 in lambda1 5.985 * [backup-simplify]: Simplify phi1 into phi1 5.985 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.985 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 5.985 * [taylor]: Taking taylor expansion of phi2 in lambda1 5.985 * [backup-simplify]: Simplify phi2 into phi2 5.986 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.986 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.986 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.986 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.986 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.986 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.986 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.986 * [backup-simplify]: Simplify (- 0) into 0 5.987 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.987 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda1 5.987 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1 5.987 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 5.987 * [taylor]: Taking taylor expansion of lambda1 in lambda1 5.987 * [backup-simplify]: Simplify 0 into 0 5.987 * [backup-simplify]: Simplify 1 into 1 5.987 * [backup-simplify]: Simplify (/ 1 1) into 1 5.987 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 5.987 * [taylor]: Taking taylor expansion of lambda2 in lambda1 5.987 * [backup-simplify]: Simplify lambda2 into lambda2 5.987 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 5.987 * [backup-simplify]: Simplify (+ 1 0) into 1 5.988 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.988 * [backup-simplify]: Simplify (* 1 1) into 1 5.988 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.988 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.988 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.988 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.988 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.988 * [backup-simplify]: Simplify 0.5 into 0.5 5.988 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.988 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.988 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.988 * [backup-simplify]: Simplify phi1 into phi1 5.988 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.988 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.988 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.988 * [backup-simplify]: Simplify phi2 into phi2 5.988 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.988 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.988 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.989 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.989 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.989 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.989 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.989 * [backup-simplify]: Simplify (- 0) into 0 5.989 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.991 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 5.991 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2)) 5.991 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2)) 5.991 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 lambda2))) (* (- (/ 1 lambda2)) 1)) into (- (* 2 (/ 1 lambda2))) 5.992 * [backup-simplify]: Simplify (+ 0) into 0 5.992 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 5.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 5.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 5.992 * [backup-simplify]: Simplify (+ 0 0) into 0 5.993 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 5.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 5.994 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 5.994 * [backup-simplify]: Simplify (- 0) into 0 5.994 * [backup-simplify]: Simplify (+ 0 0) into 0 5.994 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 5.995 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (* 2 (/ 1 lambda2)))) (* 0 1)) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 5.995 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 5.995 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 5.995 * [taylor]: Taking taylor expansion of 2 in lambda2 5.995 * [backup-simplify]: Simplify 2 into 2 5.995 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 5.995 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 5.995 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 5.995 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 5.995 * [taylor]: Taking taylor expansion of 0.5 in lambda2 5.995 * [backup-simplify]: Simplify 0.5 into 0.5 5.995 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 5.995 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 5.995 * [taylor]: Taking taylor expansion of phi1 in lambda2 5.995 * [backup-simplify]: Simplify phi1 into phi1 5.995 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 5.995 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 5.995 * [taylor]: Taking taylor expansion of phi2 in lambda2 5.995 * [backup-simplify]: Simplify phi2 into phi2 5.995 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 5.995 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 5.995 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 5.995 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.995 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.996 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.996 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 5.996 * [backup-simplify]: Simplify (- 0) into 0 5.996 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 5.996 * [taylor]: Taking taylor expansion of lambda2 in lambda2 5.996 * [backup-simplify]: Simplify 0 into 0 5.996 * [backup-simplify]: Simplify 1 into 1 5.996 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.996 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 5.997 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 5.997 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 5.997 * [backup-simplify]: Simplify (- 0) into 0 5.998 * [backup-simplify]: Simplify (+ 0 0) into 0 5.998 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) (- (/ 1 lambda2))) (* 0 1))) into (/ 1 (pow lambda2 2)) 5.999 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 5.999 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 5.999 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.000 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.000 * [backup-simplify]: Simplify (+ 0 0) into 0 6.000 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.001 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.001 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.001 * [backup-simplify]: Simplify (- 0) into 0 6.002 * [backup-simplify]: Simplify (+ 0 0) into 0 6.002 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 6.003 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 1 (pow lambda2 2))) (+ (* 0 (- (* 2 (/ 1 lambda2)))) (* 0 1))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 6.003 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 6.003 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.003 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.003 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.003 * [taylor]: Taking taylor expansion of 0.5 in lambda2 6.003 * [backup-simplify]: Simplify 0.5 into 0.5 6.003 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.003 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.003 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.003 * [backup-simplify]: Simplify phi1 into phi1 6.003 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.003 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.003 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.003 * [backup-simplify]: Simplify phi2 into phi2 6.003 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.003 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.003 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.003 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.003 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.004 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.004 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.004 * [backup-simplify]: Simplify (- 0) into 0 6.004 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.004 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 6.004 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.004 * [backup-simplify]: Simplify 0 into 0 6.004 * [backup-simplify]: Simplify 1 into 1 6.004 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.004 * [backup-simplify]: Simplify (* 1 1) into 1 6.005 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.005 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.005 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.005 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.005 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.005 * [backup-simplify]: Simplify 0.5 into 0.5 6.005 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.005 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.005 * [taylor]: Taking taylor expansion of phi1 in phi1 6.005 * [backup-simplify]: Simplify 0 into 0 6.005 * [backup-simplify]: Simplify 1 into 1 6.005 * [backup-simplify]: Simplify (/ 1 1) into 1 6.005 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.005 * [taylor]: Taking taylor expansion of phi2 in phi1 6.005 * [backup-simplify]: Simplify phi2 into phi2 6.005 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.005 * [backup-simplify]: Simplify (+ 1 0) into 1 6.006 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.006 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.006 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.006 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.006 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.006 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.006 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.006 * [backup-simplify]: Simplify 0.5 into 0.5 6.006 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.006 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.006 * [taylor]: Taking taylor expansion of phi1 in phi2 6.006 * [backup-simplify]: Simplify phi1 into phi1 6.006 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.006 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.006 * [taylor]: Taking taylor expansion of phi2 in phi2 6.006 * [backup-simplify]: Simplify 0 into 0 6.006 * [backup-simplify]: Simplify 1 into 1 6.007 * [backup-simplify]: Simplify (/ 1 1) into 1 6.007 * [backup-simplify]: Simplify (+ 0 1) into 1 6.007 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.007 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.007 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.008 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.008 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.008 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.008 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi1 6.008 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 6.008 * [taylor]: Taking taylor expansion of 2 in phi1 6.008 * [backup-simplify]: Simplify 2 into 2 6.008 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.008 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.008 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.008 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.008 * [backup-simplify]: Simplify 0.5 into 0.5 6.008 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.008 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.008 * [taylor]: Taking taylor expansion of phi1 in phi1 6.008 * [backup-simplify]: Simplify 0 into 0 6.008 * [backup-simplify]: Simplify 1 into 1 6.008 * [backup-simplify]: Simplify (/ 1 1) into 1 6.008 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.009 * [taylor]: Taking taylor expansion of phi2 in phi1 6.009 * [backup-simplify]: Simplify phi2 into phi2 6.009 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.009 * [backup-simplify]: Simplify (+ 1 0) into 1 6.009 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.009 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.009 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.010 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.010 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.010 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2 6.010 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 6.010 * [taylor]: Taking taylor expansion of 2 in phi2 6.010 * [backup-simplify]: Simplify 2 into 2 6.010 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.010 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.010 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.010 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.010 * [backup-simplify]: Simplify 0.5 into 0.5 6.010 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.010 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.010 * [taylor]: Taking taylor expansion of phi1 in phi2 6.010 * [backup-simplify]: Simplify phi1 into phi1 6.010 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.010 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.010 * [taylor]: Taking taylor expansion of phi2 in phi2 6.010 * [backup-simplify]: Simplify 0 into 0 6.010 * [backup-simplify]: Simplify 1 into 1 6.010 * [backup-simplify]: Simplify (/ 1 1) into 1 6.011 * [backup-simplify]: Simplify (+ 0 1) into 1 6.011 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.011 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.011 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.011 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.012 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.012 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.012 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.012 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.012 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.012 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.012 * [taylor]: Taking taylor expansion of 0.5 in phi1 6.012 * [backup-simplify]: Simplify 0.5 into 0.5 6.012 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.012 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.012 * [taylor]: Taking taylor expansion of phi1 in phi1 6.012 * [backup-simplify]: Simplify 0 into 0 6.012 * [backup-simplify]: Simplify 1 into 1 6.012 * [backup-simplify]: Simplify (/ 1 1) into 1 6.012 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.012 * [taylor]: Taking taylor expansion of phi2 in phi1 6.012 * [backup-simplify]: Simplify phi2 into phi2 6.013 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.013 * [backup-simplify]: Simplify (+ 1 0) into 1 6.013 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.013 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.013 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.013 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.013 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.013 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.013 * [taylor]: Taking taylor expansion of 0.5 in phi2 6.014 * [backup-simplify]: Simplify 0.5 into 0.5 6.014 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.014 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.014 * [taylor]: Taking taylor expansion of phi1 in phi2 6.014 * [backup-simplify]: Simplify phi1 into phi1 6.014 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.014 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.014 * [taylor]: Taking taylor expansion of phi2 in phi2 6.014 * [backup-simplify]: Simplify 0 into 0 6.014 * [backup-simplify]: Simplify 1 into 1 6.014 * [backup-simplify]: Simplify (/ 1 1) into 1 6.014 * [backup-simplify]: Simplify (+ 0 1) into 1 6.014 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 6.015 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.015 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.015 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.016 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda1))))) 2)) (+ (* (- (* 2 (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) (/ 1 (/ 1 lambda1)))))) (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))) 2)))) into (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) 6.016 * [backup-simplify]: Simplify (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) into (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.016 * [approximate]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in (lambda1 lambda2 phi1 phi2) around 0 6.017 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 6.017 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in phi2 6.017 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2 6.017 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2 6.017 * [taylor]: Taking taylor expansion of lambda2 in phi2 6.017 * [backup-simplify]: Simplify lambda2 into lambda2 6.017 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.017 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2 6.017 * [taylor]: Taking taylor expansion of lambda1 in phi2 6.017 * [backup-simplify]: Simplify lambda1 into lambda1 6.017 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 6.017 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 6.017 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 6.017 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.017 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.017 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.017 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.017 * [backup-simplify]: Simplify -0.5 into -0.5 6.017 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.017 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.017 * [taylor]: Taking taylor expansion of phi1 in phi2 6.017 * [backup-simplify]: Simplify phi1 into phi1 6.017 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.017 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.017 * [taylor]: Taking taylor expansion of phi2 in phi2 6.017 * [backup-simplify]: Simplify 0 into 0 6.017 * [backup-simplify]: Simplify 1 into 1 6.017 * [backup-simplify]: Simplify (/ 1 1) into 1 6.018 * [backup-simplify]: Simplify (+ 0 1) into 1 6.018 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.018 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.018 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 6.018 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in phi1 6.018 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1 6.018 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1 6.018 * [taylor]: Taking taylor expansion of lambda2 in phi1 6.018 * [backup-simplify]: Simplify lambda2 into lambda2 6.018 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.018 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1 6.018 * [taylor]: Taking taylor expansion of lambda1 in phi1 6.018 * [backup-simplify]: Simplify lambda1 into lambda1 6.018 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 6.018 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1)) 6.018 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1)) 6.018 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.018 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.018 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.018 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.018 * [backup-simplify]: Simplify -0.5 into -0.5 6.018 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.019 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.019 * [taylor]: Taking taylor expansion of phi1 in phi1 6.019 * [backup-simplify]: Simplify 0 into 0 6.019 * [backup-simplify]: Simplify 1 into 1 6.019 * [backup-simplify]: Simplify (/ 1 1) into 1 6.019 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.019 * [taylor]: Taking taylor expansion of phi2 in phi1 6.019 * [backup-simplify]: Simplify phi2 into phi2 6.019 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.019 * [backup-simplify]: Simplify (+ 1 0) into 1 6.019 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.020 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.020 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda2 6.020 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda2 6.020 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2 6.020 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2 6.020 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.020 * [backup-simplify]: Simplify 0 into 0 6.020 * [backup-simplify]: Simplify 1 into 1 6.020 * [backup-simplify]: Simplify (/ 1 1) into 1 6.020 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2 6.020 * [taylor]: Taking taylor expansion of lambda1 in lambda2 6.020 * [backup-simplify]: Simplify lambda1 into lambda1 6.020 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1) 6.020 * [backup-simplify]: Simplify (+ 1 0) into 1 6.020 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.020 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.020 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.020 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.020 * [backup-simplify]: Simplify -0.5 into -0.5 6.020 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.020 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.020 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.020 * [backup-simplify]: Simplify phi1 into phi1 6.020 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.020 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.021 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.021 * [backup-simplify]: Simplify phi2 into phi2 6.021 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.021 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.021 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.021 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.021 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.021 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.021 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.021 * [backup-simplify]: Simplify (- 0) into 0 6.021 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.021 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 6.022 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda1 6.022 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 6.022 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 6.022 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.022 * [backup-simplify]: Simplify lambda2 into lambda2 6.022 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.022 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 6.022 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.022 * [backup-simplify]: Simplify 0 into 0 6.022 * [backup-simplify]: Simplify 1 into 1 6.022 * [backup-simplify]: Simplify (/ 1 1) into 1 6.022 * [backup-simplify]: Simplify (- 1) into -1 6.022 * [backup-simplify]: Simplify (+ 0 -1) into -1 6.022 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.022 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.023 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.023 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.023 * [backup-simplify]: Simplify -0.5 into -0.5 6.023 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.023 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.023 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.023 * [backup-simplify]: Simplify phi1 into phi1 6.023 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.023 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.023 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.023 * [backup-simplify]: Simplify phi2 into phi2 6.023 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.023 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.023 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.023 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.023 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.024 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.024 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.024 * [backup-simplify]: Simplify (- 0) into 0 6.024 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.024 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1 6.024 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda1 6.024 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1 6.024 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1 6.024 * [taylor]: Taking taylor expansion of lambda2 in lambda1 6.025 * [backup-simplify]: Simplify lambda2 into lambda2 6.025 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2) 6.025 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1 6.025 * [taylor]: Taking taylor expansion of lambda1 in lambda1 6.025 * [backup-simplify]: Simplify 0 into 0 6.025 * [backup-simplify]: Simplify 1 into 1 6.025 * [backup-simplify]: Simplify (/ 1 1) into 1 6.025 * [backup-simplify]: Simplify (- 1) into -1 6.026 * [backup-simplify]: Simplify (+ 0 -1) into -1 6.026 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 6.026 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 6.026 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 6.026 * [taylor]: Taking taylor expansion of -0.5 in lambda1 6.026 * [backup-simplify]: Simplify -0.5 into -0.5 6.026 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 6.026 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 6.026 * [taylor]: Taking taylor expansion of phi1 in lambda1 6.026 * [backup-simplify]: Simplify phi1 into phi1 6.026 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.026 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 6.026 * [taylor]: Taking taylor expansion of phi2 in lambda1 6.026 * [backup-simplify]: Simplify phi2 into phi2 6.026 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.026 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.026 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.026 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.027 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.027 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.027 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.027 * [backup-simplify]: Simplify (- 0) into 0 6.028 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.028 * [backup-simplify]: Simplify (* -1 -1) into 1 6.028 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.029 * [backup-simplify]: Simplify (* 1 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.029 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.029 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.029 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.029 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.029 * [backup-simplify]: Simplify -0.5 into -0.5 6.029 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.029 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.029 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.029 * [backup-simplify]: Simplify phi1 into phi1 6.029 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.029 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.029 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.029 * [backup-simplify]: Simplify phi2 into phi2 6.029 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.029 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.029 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.029 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.030 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.030 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.030 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.030 * [backup-simplify]: Simplify (- 0) into 0 6.030 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.031 * [backup-simplify]: Simplify (+ 0) into 0 6.031 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 6.031 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 6.032 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 6.032 * [backup-simplify]: Simplify (+ 0 0) into 0 6.032 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 6.033 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 6.034 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 6.034 * [backup-simplify]: Simplify (- 0) into 0 6.034 * [backup-simplify]: Simplify (+ 0 0) into 0 6.035 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 6.035 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 6.036 * [backup-simplify]: Simplify (- 0) into 0 6.036 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2) 6.036 * [backup-simplify]: Simplify (+ (* -1 (/ 1 lambda2)) (* (/ 1 lambda2) -1)) into (- (* 2 (/ 1 lambda2))) 6.037 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 lambda2))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 6.037 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2 6.037 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2 6.037 * [taylor]: Taking taylor expansion of 2 in lambda2 6.037 * [backup-simplify]: Simplify 2 into 2 6.037 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2 6.037 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.037 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.037 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.037 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.037 * [backup-simplify]: Simplify -0.5 into -0.5 6.037 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.037 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.037 * [backup-simplify]: Simplify phi1 into phi1 6.037 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.037 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.037 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.037 * [backup-simplify]: Simplify phi2 into phi2 6.037 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.038 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.038 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.038 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.038 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.038 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.038 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.039 * [backup-simplify]: Simplify (- 0) into 0 6.039 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.039 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.039 * [backup-simplify]: Simplify 0 into 0 6.039 * [backup-simplify]: Simplify 1 into 1 6.039 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.040 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.040 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 6.041 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 6.041 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 6.041 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 6.042 * [backup-simplify]: Simplify (+ 0 0) into 0 6.042 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 6.043 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 6.043 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 6.043 * [backup-simplify]: Simplify (- 0) into 0 6.044 * [backup-simplify]: Simplify (+ 0 0) into 0 6.044 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 6.044 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0 6.045 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0 6.045 * [backup-simplify]: Simplify (- 0) into 0 6.045 * [backup-simplify]: Simplify (+ 0 0) into 0 6.046 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) (/ 1 lambda2)) (* 0 -1))) into (/ 1 (pow lambda2 2)) 6.046 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 lambda2))) 0) (* (/ 1 (pow lambda2 2)) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 6.046 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 6.046 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 6.046 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 6.046 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 6.047 * [taylor]: Taking taylor expansion of -0.5 in lambda2 6.047 * [backup-simplify]: Simplify -0.5 into -0.5 6.047 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 6.047 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 6.047 * [taylor]: Taking taylor expansion of phi1 in lambda2 6.047 * [backup-simplify]: Simplify phi1 into phi1 6.047 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.047 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 6.047 * [taylor]: Taking taylor expansion of phi2 in lambda2 6.047 * [backup-simplify]: Simplify phi2 into phi2 6.047 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.047 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 6.047 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 6.047 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.047 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.047 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.047 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 6.048 * [backup-simplify]: Simplify (- 0) into 0 6.048 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.048 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 6.048 * [taylor]: Taking taylor expansion of lambda2 in lambda2 6.048 * [backup-simplify]: Simplify 0 into 0 6.048 * [backup-simplify]: Simplify 1 into 1 6.048 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.048 * [backup-simplify]: Simplify (* 1 1) into 1 6.048 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.048 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.048 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.048 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.048 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.048 * [backup-simplify]: Simplify -0.5 into -0.5 6.048 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.048 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.048 * [taylor]: Taking taylor expansion of phi1 in phi1 6.048 * [backup-simplify]: Simplify 0 into 0 6.049 * [backup-simplify]: Simplify 1 into 1 6.049 * [backup-simplify]: Simplify (/ 1 1) into 1 6.049 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.049 * [taylor]: Taking taylor expansion of phi2 in phi1 6.049 * [backup-simplify]: Simplify phi2 into phi2 6.049 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.049 * [backup-simplify]: Simplify (+ 1 0) into 1 6.049 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.049 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.050 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.050 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.050 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.050 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.050 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.050 * [backup-simplify]: Simplify -0.5 into -0.5 6.050 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.050 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.050 * [taylor]: Taking taylor expansion of phi1 in phi2 6.050 * [backup-simplify]: Simplify phi1 into phi1 6.050 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.050 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.050 * [taylor]: Taking taylor expansion of phi2 in phi2 6.050 * [backup-simplify]: Simplify 0 into 0 6.050 * [backup-simplify]: Simplify 1 into 1 6.050 * [backup-simplify]: Simplify (/ 1 1) into 1 6.050 * [backup-simplify]: Simplify (+ 0 1) into 1 6.051 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.051 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.051 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.051 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.051 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.052 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.052 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi1 6.052 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1 6.052 * [taylor]: Taking taylor expansion of 2 in phi1 6.052 * [backup-simplify]: Simplify 2 into 2 6.052 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.052 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.052 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.052 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.052 * [backup-simplify]: Simplify -0.5 into -0.5 6.052 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.052 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.052 * [taylor]: Taking taylor expansion of phi1 in phi1 6.052 * [backup-simplify]: Simplify 0 into 0 6.052 * [backup-simplify]: Simplify 1 into 1 6.052 * [backup-simplify]: Simplify (/ 1 1) into 1 6.052 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.052 * [taylor]: Taking taylor expansion of phi2 in phi1 6.052 * [backup-simplify]: Simplify phi2 into phi2 6.052 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.052 * [backup-simplify]: Simplify (+ 1 0) into 1 6.053 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.053 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.053 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.053 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.053 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.053 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2 6.053 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2 6.053 * [taylor]: Taking taylor expansion of 2 in phi2 6.053 * [backup-simplify]: Simplify 2 into 2 6.054 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.054 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.054 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.054 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.054 * [backup-simplify]: Simplify -0.5 into -0.5 6.054 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.054 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.054 * [taylor]: Taking taylor expansion of phi1 in phi2 6.054 * [backup-simplify]: Simplify phi1 into phi1 6.054 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.054 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.054 * [taylor]: Taking taylor expansion of phi2 in phi2 6.054 * [backup-simplify]: Simplify 0 into 0 6.054 * [backup-simplify]: Simplify 1 into 1 6.054 * [backup-simplify]: Simplify (/ 1 1) into 1 6.054 * [backup-simplify]: Simplify (+ 0 1) into 1 6.055 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.055 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.055 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.055 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) 6.055 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.055 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) 6.056 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.056 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 6.056 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 6.056 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 6.056 * [taylor]: Taking taylor expansion of -0.5 in phi1 6.056 * [backup-simplify]: Simplify -0.5 into -0.5 6.056 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 6.056 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 6.056 * [taylor]: Taking taylor expansion of phi1 in phi1 6.056 * [backup-simplify]: Simplify 0 into 0 6.056 * [backup-simplify]: Simplify 1 into 1 6.056 * [backup-simplify]: Simplify (/ 1 1) into 1 6.056 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 6.056 * [taylor]: Taking taylor expansion of phi2 in phi1 6.056 * [backup-simplify]: Simplify phi2 into phi2 6.056 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 6.057 * [backup-simplify]: Simplify (+ 1 0) into 1 6.057 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.057 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.058 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.058 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 6.058 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 6.058 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 6.058 * [taylor]: Taking taylor expansion of -0.5 in phi2 6.058 * [backup-simplify]: Simplify -0.5 into -0.5 6.058 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 6.058 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 6.058 * [taylor]: Taking taylor expansion of phi1 in phi2 6.058 * [backup-simplify]: Simplify phi1 into phi1 6.058 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 6.058 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 6.058 * [taylor]: Taking taylor expansion of phi2 in phi2 6.058 * [backup-simplify]: Simplify 0 into 0 6.058 * [backup-simplify]: Simplify 1 into 1 6.058 * [backup-simplify]: Simplify (/ 1 1) into 1 6.059 * [backup-simplify]: Simplify (+ 0 1) into 1 6.059 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 6.059 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6.060 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.060 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 6.062 * [backup-simplify]: Simplify (+ (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda1)))))) 2)) (+ (* (- (* 2 (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) (/ 1 (/ 1 (- lambda1))))))) (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))) 2)))) into (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) 6.062 * * * [progress]: simplifying candidates 6.068 * [simplify]: Simplifying: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (* (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))) (sqrt (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt 1) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3)))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2)))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 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(sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ lambda1 lambda2)) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ lambda1 lambda2)) (+ phi1 phi2))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ lambda1 lambda2)) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2))))) (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ lambda1 lambda2)) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 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(pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) 6.079 * * [simplify]: Extracting # 0 : cost 161 inf + 0 6.080 * * [simplify]: Extracting # 1 : cost 294 inf + 0 6.081 * * [simplify]: Extracting # 2 : cost 416 inf + 129 6.082 * * [simplify]: Extracting # 3 : cost 429 inf + 1328 6.086 * * [simplify]: Extracting # 4 : cost 368 inf + 18102 6.093 * * [simplify]: Extracting # 5 : cost 320 inf + 38210 6.108 * * [simplify]: Extracting # 6 : cost 255 inf + 70289 6.131 * * [simplify]: Extracting # 7 : cost 153 inf + 148742 6.162 * * [simplify]: Extracting # 8 : cost 92 inf + 205969 6.194 * * [simplify]: Extracting # 9 : cost 35 inf + 283450 6.223 * * [simplify]: Extracting # 10 : cost 3 inf + 338342 6.272 * * [simplify]: Extracting # 11 : cost 0 inf + 344020 6.321 * * [simplify]: iteration 0 : 458 enodes (cost 154057 ) 6.453 * * [simplify]: Extracting # 0 : cost 0 inf + 344020 6.512 * * [simplify]: Extracting # 1 : cost 232 inf + 165336 6.552 * * [simplify]: Extracting # 2 : cost 7 inf + 235211 6.597 * * [simplify]: Extracting # 3 : cost 0 inf + 220425 6.640 * * [simplify]: Extracting # 4 : cost 0 inf + 200920 6.679 * * [simplify]: Extracting # 5 : cost 0 inf + 190685 6.720 * * [simplify]: Extracting # 6 : cost 0 inf + 189662 6.758 * * [simplify]: iteration 1 : 1387 enodes (cost 114437 ) 7.086 * * [simplify]: Extracting # 0 : cost 0 inf + 189662 7.168 * * [simplify]: Extracting # 1 : cost 2197 inf + 184526 7.309 * * [simplify]: Extracting # 2 : cost 72 inf + 897923 7.486 * * [simplify]: Extracting # 3 : cost 18 inf + 904905 7.701 * * [simplify]: Extracting # 4 : cost 0 inf + 910519 7.900 * * [simplify]: iteration done: 5000 enodes (cost 113797 ) 7.902 * [simplify]: Simplified to: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 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2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (fabs (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (fabs (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (- (* (* lambda1 lambda1) lambda1) (* lambda2 (* lambda2 lambda2)))) (* (cos (/ (+ phi1 phi2) 2.0)) (- (* (* lambda1 lambda1) lambda1) (* lambda2 (* lambda2 lambda2))))) (* (+ (* lambda1 lambda1) (* lambda2 (+ lambda1 lambda2))) (+ (* lambda1 lambda1) (* lambda2 (+ lambda1 lambda2)))) (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (- (* (* lambda1 lambda1) lambda1) (* lambda2 (* lambda2 lambda2)))) (cos (/ (+ phi1 phi2) 2.0))) (* (+ (* lambda1 lambda1) (* lambda2 (+ lambda1 lambda2))) (+ lambda1 lambda2)) (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (- (* (* lambda1 lambda1) lambda1) (* lambda2 (* lambda2 lambda2)))) (cos (/ (+ phi1 phi2) 2.0))) (* (+ (* lambda1 lambda1) (* lambda2 (+ lambda1 lambda2))) (+ lambda1 lambda2)) (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (* (- lambda1 lambda2) (- lambda1 lambda2)) (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) 2 2 2 2 (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- lambda1 lambda2)) (* (cos (/ (+ phi1 phi2) 2.0)) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- (* (* lambda1 lambda1) lambda1) (* lambda2 (* lambda2 lambda2))) (* (cos (/ (+ phi1 phi2) 2.0)) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (- (* (* lambda1 lambda1) lambda1) (* lambda2 (* lambda2 lambda2))) (* (cos (/ (+ phi1 phi2) 2.0)) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (- phi2 phi1) (- (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (/ lambda2 (/ (* (cos (* 0.5 (+ phi1 phi2))) (* lambda1 lambda1)) (* phi1 phi2)))))) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (/ lambda2 (/ (* (cos (* 0.5 (+ phi1 phi2))) (* lambda1 lambda1)) (* phi1 phi2))))) (- (- 1 (* 0.25 (* phi1 phi2))) (* (* phi1 phi1) 0.125)) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (- (- 1 (* 0.25 (* phi1 phi2))) (* (* phi1 phi1) 0.125)) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (+ (* lambda1 lambda1) (- (* lambda2 lambda2) (* 2 (* lambda2 lambda1)))) (- (* (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) (+ (* lambda1 lambda1) (* lambda2 lambda2))) (* 2 (* (* lambda1 (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))))) lambda2))) (- (* (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) (+ (* lambda1 lambda1) (* lambda2 lambda2))) (* 2 (* (* lambda1 (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))))) lambda2))) 7.947 * * * [progress]: adding candidates to table 8.705 * * [progress]: iteration 2 / 4 8.705 * * * [progress]: picking best candidate 8.767 * * * * [pick]: Picked # 8.767 * * * [progress]: localizing error 8.863 * * * [progress]: generating rewritten candidates 8.863 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 9.421 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2 2 1) 9.430 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 2 2 1 2 1) 9.439 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1 2 2 1 1 1) 9.467 * * * [progress]: generating series expansions 9.467 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 9.469 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) 9.469 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in (lambda1 lambda2 phi1 phi2) around 0 9.469 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in phi2 9.469 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in phi2 9.469 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in phi2 9.469 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 9.469 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 9.469 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.469 * [backup-simplify]: Simplify lambda2 into lambda2 9.469 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 9.469 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 9.469 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 9.469 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.469 * [backup-simplify]: Simplify 0.5 into 0.5 9.469 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 9.469 * [taylor]: Taking taylor expansion of phi1 in phi2 9.469 * [backup-simplify]: Simplify phi1 into phi1 9.469 * [taylor]: Taking taylor expansion of phi2 in phi2 9.469 * [backup-simplify]: Simplify 0 into 0 9.469 * [backup-simplify]: Simplify 1 into 1 9.469 * [backup-simplify]: Simplify (+ phi1 0) into phi1 9.469 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.470 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.470 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.470 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.470 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.471 * [backup-simplify]: Simplify (- 0) into 0 9.471 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.471 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in phi2 9.471 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 9.471 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 9.471 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.471 * [backup-simplify]: Simplify lambda1 into lambda1 9.471 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 9.471 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 9.471 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 9.471 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.471 * [backup-simplify]: Simplify 0.5 into 0.5 9.471 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 9.471 * [taylor]: Taking taylor expansion of phi1 in phi2 9.471 * [backup-simplify]: Simplify phi1 into phi1 9.471 * [taylor]: Taking taylor expansion of phi2 in phi2 9.471 * [backup-simplify]: Simplify 0 into 0 9.471 * [backup-simplify]: Simplify 1 into 1 9.471 * [backup-simplify]: Simplify (+ phi1 0) into phi1 9.471 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.471 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.471 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.472 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.472 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.472 * [backup-simplify]: Simplify (- 0) into 0 9.472 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.472 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi2 9.472 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.472 * [taylor]: Taking taylor expansion of phi1 in phi2 9.472 * [backup-simplify]: Simplify phi1 into phi1 9.472 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.472 * [taylor]: Taking taylor expansion of phi2 in phi2 9.472 * [backup-simplify]: Simplify 0 into 0 9.472 * [backup-simplify]: Simplify 1 into 1 9.473 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in phi2 9.473 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi2 9.473 * [taylor]: Taking taylor expansion of 2 in phi2 9.473 * [backup-simplify]: Simplify 2 into 2 9.473 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 9.473 * [taylor]: Taking taylor expansion of phi1 in phi2 9.473 * [backup-simplify]: Simplify phi1 into phi1 9.473 * [taylor]: Taking taylor expansion of phi2 in phi2 9.473 * [backup-simplify]: Simplify 0 into 0 9.473 * [backup-simplify]: Simplify 1 into 1 9.473 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in phi2 9.473 * [taylor]: Taking taylor expansion of 2 in phi2 9.473 * [backup-simplify]: Simplify 2 into 2 9.473 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi2 9.473 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.473 * [backup-simplify]: Simplify lambda2 into lambda2 9.473 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 9.473 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.473 * [backup-simplify]: Simplify lambda1 into lambda1 9.473 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 9.473 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 9.473 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 9.473 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.473 * [backup-simplify]: Simplify 0.5 into 0.5 9.473 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 9.473 * [taylor]: Taking taylor expansion of phi1 in phi2 9.473 * [backup-simplify]: Simplify phi1 into phi1 9.473 * [taylor]: Taking taylor expansion of phi2 in phi2 9.473 * [backup-simplify]: Simplify 0 into 0 9.473 * [backup-simplify]: Simplify 1 into 1 9.473 * [backup-simplify]: Simplify (+ phi1 0) into phi1 9.473 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 9.474 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 9.474 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 9.474 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 9.474 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 9.474 * [backup-simplify]: Simplify (- 0) into 0 9.474 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 9.475 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.475 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 9.475 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) 9.475 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.475 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 9.476 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 9.476 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.476 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 9.476 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 9.477 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) 9.477 * [backup-simplify]: Simplify (* phi1 0) into 0 9.478 * [backup-simplify]: Simplify (* 2 0) into 0 9.478 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 9.478 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 9.478 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))) 9.479 * [backup-simplify]: Simplify (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) 9.479 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) 9.480 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) 9.481 * [backup-simplify]: Simplify (+ (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) 9.483 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) 9.483 * [backup-simplify]: Simplify (+ 0) into 0 9.484 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.484 * [backup-simplify]: Simplify (+ 0 1) into 1 9.484 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.487 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.487 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.487 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.487 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 9.487 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.488 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 9.488 * [backup-simplify]: Simplify (+ 0) into 0 9.488 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.488 * [backup-simplify]: Simplify (+ 0 1) into 1 9.489 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.490 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.491 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.491 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.491 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 9.491 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.491 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 9.492 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.492 * [backup-simplify]: Simplify (+ 0 0) into 0 9.492 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 0) into (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 9.494 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) into (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) 9.494 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 9.494 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 9.494 * [backup-simplify]: Simplify (+ 0) into 0 9.495 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 9.495 * [backup-simplify]: Simplify (+ 0 1) into 1 9.495 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 9.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.497 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 9.497 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.497 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 9.498 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 9.498 * [backup-simplify]: Simplify (+ (* lambda1 (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* lambda1 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* lambda1 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 9.499 * [backup-simplify]: Simplify (+ (* lambda2 (- (+ (* 0.5 (* lambda1 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* lambda1 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) 9.499 * [backup-simplify]: Simplify (+ (* 2 (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (* 0 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (- (+ (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))))) 9.500 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (+ (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1))))))))) into (- (* 2 phi1) (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) 9.500 * [backup-simplify]: Simplify (- (- (* 2 phi1) (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) into (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 2 phi1)) 9.502 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 2 phi1))) into (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) 9.504 * [backup-simplify]: Simplify (/ (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))) (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))))) 9.504 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in phi1 9.505 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in phi1 9.505 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in phi1 9.505 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 9.505 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.505 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.505 * [backup-simplify]: Simplify lambda2 into lambda2 9.505 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 9.505 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 9.505 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 9.505 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.505 * [backup-simplify]: Simplify 0.5 into 0.5 9.505 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 9.505 * [taylor]: Taking taylor expansion of phi1 in phi1 9.505 * [backup-simplify]: Simplify 0 into 0 9.505 * [backup-simplify]: Simplify 1 into 1 9.505 * [taylor]: Taking taylor expansion of phi2 in phi1 9.505 * [backup-simplify]: Simplify phi2 into phi2 9.505 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 9.505 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.505 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.505 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.505 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.505 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.505 * [backup-simplify]: Simplify (- 0) into 0 9.506 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.506 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in phi1 9.506 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 9.506 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.506 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.506 * [backup-simplify]: Simplify lambda1 into lambda1 9.506 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 9.506 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 9.506 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 9.506 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.506 * [backup-simplify]: Simplify 0.5 into 0.5 9.506 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 9.506 * [taylor]: Taking taylor expansion of phi1 in phi1 9.506 * [backup-simplify]: Simplify 0 into 0 9.506 * [backup-simplify]: Simplify 1 into 1 9.506 * [taylor]: Taking taylor expansion of phi2 in phi1 9.506 * [backup-simplify]: Simplify phi2 into phi2 9.506 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 9.506 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.506 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.506 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.506 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.506 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.506 * [backup-simplify]: Simplify (- 0) into 0 9.506 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.506 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 9.506 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.506 * [taylor]: Taking taylor expansion of phi1 in phi1 9.506 * [backup-simplify]: Simplify 0 into 0 9.507 * [backup-simplify]: Simplify 1 into 1 9.507 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 9.507 * [taylor]: Taking taylor expansion of phi2 in phi1 9.507 * [backup-simplify]: Simplify phi2 into phi2 9.507 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in phi1 9.507 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 9.507 * [taylor]: Taking taylor expansion of 2 in phi1 9.507 * [backup-simplify]: Simplify 2 into 2 9.507 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 9.507 * [taylor]: Taking taylor expansion of phi1 in phi1 9.507 * [backup-simplify]: Simplify 0 into 0 9.507 * [backup-simplify]: Simplify 1 into 1 9.507 * [taylor]: Taking taylor expansion of phi2 in phi1 9.507 * [backup-simplify]: Simplify phi2 into phi2 9.507 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in phi1 9.507 * [taylor]: Taking taylor expansion of 2 in phi1 9.507 * [backup-simplify]: Simplify 2 into 2 9.507 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 9.507 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.507 * [backup-simplify]: Simplify lambda2 into lambda2 9.507 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 9.507 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.507 * [backup-simplify]: Simplify lambda1 into lambda1 9.507 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 9.507 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 9.507 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 9.507 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.507 * [backup-simplify]: Simplify 0.5 into 0.5 9.507 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 9.507 * [taylor]: Taking taylor expansion of phi1 in phi1 9.507 * [backup-simplify]: Simplify 0 into 0 9.507 * [backup-simplify]: Simplify 1 into 1 9.507 * [taylor]: Taking taylor expansion of phi2 in phi1 9.507 * [backup-simplify]: Simplify phi2 into phi2 9.507 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 9.507 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.507 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.507 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.507 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.507 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.508 * [backup-simplify]: Simplify (- 0) into 0 9.508 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.508 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.508 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 9.508 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) 9.508 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.508 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 9.508 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) 9.508 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.508 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 9.509 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (pow phi2 2)) into (+ (pow phi2 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) 9.509 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) (+ (pow phi2 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)))) into (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) 9.509 * [backup-simplify]: Simplify (* 0 phi2) into 0 9.509 * [backup-simplify]: Simplify (* 2 0) into 0 9.510 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 9.510 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 phi2)) 2)) into (* lambda1 (pow (cos (* 0.5 phi2)) 2)) 9.510 * [backup-simplify]: Simplify (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))) into (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))) 9.510 * [backup-simplify]: Simplify (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) 9.510 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) 9.510 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) 9.511 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) 9.513 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) 9.514 * [backup-simplify]: Simplify (+ 0) into 0 9.514 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 9.515 * [backup-simplify]: Simplify (+ 1 0) into 1 9.515 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 9.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.518 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 9.518 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.518 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.519 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 9.519 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.519 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 9.520 * [backup-simplify]: Simplify (+ 0) into 0 9.520 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 9.520 * [backup-simplify]: Simplify (+ 1 0) into 1 9.520 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 9.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.522 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 9.522 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.522 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.523 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 9.523 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.523 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 9.523 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.523 * [backup-simplify]: Simplify (+ 0 0) into 0 9.524 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 0) into (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 9.524 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) into (- (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 9.524 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 9.525 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 9.525 * [backup-simplify]: Simplify (+ 0) into 0 9.525 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 9.525 * [backup-simplify]: Simplify (+ 1 0) into 1 9.526 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 9.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 9.528 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 9.528 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.528 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 9.528 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 9.528 * [backup-simplify]: Simplify (+ (* lambda1 (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 9.529 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 0 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) into (- (* 1.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 9.529 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (* 0 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 9.529 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) into (- (* 2 phi2) (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 9.529 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 2 phi2)) 9.530 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 2 phi2))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) 9.532 * [backup-simplify]: Simplify (/ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))))) 9.532 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda2 9.532 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda2 9.532 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda2 9.532 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 9.532 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.532 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.532 * [backup-simplify]: Simplify 0 into 0 9.532 * [backup-simplify]: Simplify 1 into 1 9.532 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 9.532 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 9.532 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 9.532 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.532 * [backup-simplify]: Simplify 0.5 into 0.5 9.532 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 9.532 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.532 * [backup-simplify]: Simplify phi1 into phi1 9.532 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.532 * [backup-simplify]: Simplify phi2 into phi2 9.532 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.532 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.532 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.532 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.532 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.533 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.533 * [backup-simplify]: Simplify (- 0) into 0 9.533 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.533 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 9.533 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 9.533 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 9.533 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.533 * [backup-simplify]: Simplify lambda1 into lambda1 9.533 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 9.533 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 9.533 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 9.533 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.533 * [backup-simplify]: Simplify 0.5 into 0.5 9.533 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 9.533 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.533 * [backup-simplify]: Simplify phi1 into phi1 9.533 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.533 * [backup-simplify]: Simplify phi2 into phi2 9.533 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.533 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.533 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.533 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.533 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.534 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.534 * [backup-simplify]: Simplify (- 0) into 0 9.534 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.534 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 9.534 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.534 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.534 * [backup-simplify]: Simplify phi1 into phi1 9.534 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.534 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.534 * [backup-simplify]: Simplify phi2 into phi2 9.534 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda2 9.534 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 9.534 * [taylor]: Taking taylor expansion of 2 in lambda2 9.534 * [backup-simplify]: Simplify 2 into 2 9.534 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 9.534 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.534 * [backup-simplify]: Simplify phi1 into phi1 9.534 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.534 * [backup-simplify]: Simplify phi2 into phi2 9.534 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 9.534 * [taylor]: Taking taylor expansion of 2 in lambda2 9.534 * [backup-simplify]: Simplify 2 into 2 9.534 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 9.534 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.534 * [backup-simplify]: Simplify 0 into 0 9.534 * [backup-simplify]: Simplify 1 into 1 9.534 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 9.534 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.534 * [backup-simplify]: Simplify lambda1 into lambda1 9.534 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 9.534 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 9.534 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 9.534 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.534 * [backup-simplify]: Simplify 0.5 into 0.5 9.534 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 9.534 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.534 * [backup-simplify]: Simplify phi1 into phi1 9.534 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.534 * [backup-simplify]: Simplify phi2 into phi2 9.534 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.535 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.535 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.535 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.535 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.535 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.535 * [backup-simplify]: Simplify (- 0) into 0 9.535 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.535 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.535 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.536 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 9.536 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.536 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.536 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 9.536 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) 9.537 * [backup-simplify]: Simplify (+ 0 (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) into (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) 9.537 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.537 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 9.537 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.537 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 9.537 * [backup-simplify]: Simplify (* 0 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 9.538 * [backup-simplify]: Simplify (* 2 0) into 0 9.538 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 9.538 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 9.538 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2))) 9.539 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))) 9.539 * [backup-simplify]: Simplify (+ 0) into 0 9.540 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 9.540 * [backup-simplify]: Simplify (+ 0 0) into 0 9.541 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 9.541 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.542 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 9.542 * [backup-simplify]: Simplify (- 0) into 0 9.543 * [backup-simplify]: Simplify (+ 0 0) into 0 9.543 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 9.543 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 9.544 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 9.544 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.544 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.544 * [backup-simplify]: Simplify (+ 0 0) into 0 9.544 * [backup-simplify]: Simplify (+ 0 0) into 0 9.545 * [backup-simplify]: Simplify (+ 0 0) into 0 9.545 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 9.545 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 9.546 * [backup-simplify]: Simplify (+ 0) into 0 9.546 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 9.547 * [backup-simplify]: Simplify (+ 0 0) into 0 9.547 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 9.548 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.548 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 9.548 * [backup-simplify]: Simplify (- 0) into 0 9.548 * [backup-simplify]: Simplify (+ 0 0) into 0 9.549 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 9.549 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 9.549 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 9.550 * [backup-simplify]: Simplify (+ (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 9.550 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 9.550 * [backup-simplify]: Simplify (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 9.550 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 9.551 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2))))))) 9.551 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda1 9.551 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda1 9.551 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda1 9.551 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 9.551 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.551 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.551 * [backup-simplify]: Simplify lambda2 into lambda2 9.551 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 9.551 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 9.551 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 9.551 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.551 * [backup-simplify]: Simplify 0.5 into 0.5 9.551 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 9.551 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.551 * [backup-simplify]: Simplify phi1 into phi1 9.551 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.551 * [backup-simplify]: Simplify phi2 into phi2 9.551 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.552 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.552 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.552 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.552 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.552 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.552 * [backup-simplify]: Simplify (- 0) into 0 9.552 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.552 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda1 9.552 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 9.552 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.552 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.552 * [backup-simplify]: Simplify 0 into 0 9.552 * [backup-simplify]: Simplify 1 into 1 9.552 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 9.552 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 9.552 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 9.552 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.552 * [backup-simplify]: Simplify 0.5 into 0.5 9.552 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 9.552 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.552 * [backup-simplify]: Simplify phi1 into phi1 9.552 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.553 * [backup-simplify]: Simplify phi2 into phi2 9.553 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.553 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.553 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.553 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.553 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.553 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.553 * [backup-simplify]: Simplify (- 0) into 0 9.553 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.553 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda1 9.553 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 9.553 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.553 * [backup-simplify]: Simplify phi1 into phi1 9.553 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 9.553 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.553 * [backup-simplify]: Simplify phi2 into phi2 9.553 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda1 9.553 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda1 9.553 * [taylor]: Taking taylor expansion of 2 in lambda1 9.553 * [backup-simplify]: Simplify 2 into 2 9.553 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 9.553 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.553 * [backup-simplify]: Simplify phi1 into phi1 9.553 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.554 * [backup-simplify]: Simplify phi2 into phi2 9.554 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda1 9.554 * [taylor]: Taking taylor expansion of 2 in lambda1 9.554 * [backup-simplify]: Simplify 2 into 2 9.554 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda1 9.554 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.554 * [backup-simplify]: Simplify lambda2 into lambda2 9.554 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 9.554 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.554 * [backup-simplify]: Simplify 0 into 0 9.554 * [backup-simplify]: Simplify 1 into 1 9.554 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 9.554 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 9.554 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 9.554 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.554 * [backup-simplify]: Simplify 0.5 into 0.5 9.554 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 9.554 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.554 * [backup-simplify]: Simplify phi1 into phi1 9.554 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.554 * [backup-simplify]: Simplify phi2 into phi2 9.554 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.554 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.554 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.554 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.554 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.554 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.555 * [backup-simplify]: Simplify (- 0) into 0 9.555 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.555 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.555 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.555 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 9.555 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.555 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.555 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 9.556 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 9.556 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 9.556 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.556 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 9.556 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.556 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 9.556 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.557 * [backup-simplify]: Simplify (* 2 0) into 0 9.557 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 9.557 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 9.557 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) 9.558 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) 9.558 * [backup-simplify]: Simplify (+ 0) into 0 9.558 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 9.559 * [backup-simplify]: Simplify (+ 0 0) into 0 9.559 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 9.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.560 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 9.560 * [backup-simplify]: Simplify (- 0) into 0 9.560 * [backup-simplify]: Simplify (+ 0 0) into 0 9.560 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 9.560 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.561 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 9.561 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.561 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.561 * [backup-simplify]: Simplify (+ 0 0) into 0 9.561 * [backup-simplify]: Simplify (+ 0 0) into 0 9.562 * [backup-simplify]: Simplify (+ 0 0) into 0 9.562 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 9.562 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 9.562 * [backup-simplify]: Simplify (+ 0) into 0 9.563 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 9.563 * [backup-simplify]: Simplify (+ 0 0) into 0 9.563 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 9.564 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.564 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 9.564 * [backup-simplify]: Simplify (- 0) into 0 9.564 * [backup-simplify]: Simplify (+ 0 0) into 0 9.565 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 9.565 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.565 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 9.566 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 9.566 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 9.566 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 9.567 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 9.567 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 9.567 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda1 9.567 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda1 9.567 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda1 9.567 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 9.567 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.568 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.568 * [backup-simplify]: Simplify lambda2 into lambda2 9.568 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 9.568 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 9.568 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 9.568 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.568 * [backup-simplify]: Simplify 0.5 into 0.5 9.568 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 9.568 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.568 * [backup-simplify]: Simplify phi1 into phi1 9.568 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.568 * [backup-simplify]: Simplify phi2 into phi2 9.568 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.568 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.568 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.568 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.568 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.568 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.568 * [backup-simplify]: Simplify (- 0) into 0 9.568 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.568 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda1 9.569 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 9.569 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.569 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.569 * [backup-simplify]: Simplify 0 into 0 9.569 * [backup-simplify]: Simplify 1 into 1 9.569 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 9.569 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 9.569 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 9.569 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.569 * [backup-simplify]: Simplify 0.5 into 0.5 9.569 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 9.569 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.569 * [backup-simplify]: Simplify phi1 into phi1 9.569 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.569 * [backup-simplify]: Simplify phi2 into phi2 9.569 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.569 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.569 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.569 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.569 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.569 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.569 * [backup-simplify]: Simplify (- 0) into 0 9.569 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.569 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda1 9.569 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 9.569 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.569 * [backup-simplify]: Simplify phi1 into phi1 9.569 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 9.570 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.570 * [backup-simplify]: Simplify phi2 into phi2 9.570 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda1 9.570 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda1 9.570 * [taylor]: Taking taylor expansion of 2 in lambda1 9.570 * [backup-simplify]: Simplify 2 into 2 9.570 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 9.570 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.570 * [backup-simplify]: Simplify phi1 into phi1 9.570 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.570 * [backup-simplify]: Simplify phi2 into phi2 9.570 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda1 9.570 * [taylor]: Taking taylor expansion of 2 in lambda1 9.570 * [backup-simplify]: Simplify 2 into 2 9.570 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda1 9.570 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.570 * [backup-simplify]: Simplify lambda2 into lambda2 9.570 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 9.570 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.570 * [backup-simplify]: Simplify 0 into 0 9.570 * [backup-simplify]: Simplify 1 into 1 9.570 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 9.570 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 9.570 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 9.570 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.570 * [backup-simplify]: Simplify 0.5 into 0.5 9.570 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 9.570 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.570 * [backup-simplify]: Simplify phi1 into phi1 9.570 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.570 * [backup-simplify]: Simplify phi2 into phi2 9.570 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.570 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.570 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.570 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.570 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.570 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.571 * [backup-simplify]: Simplify (- 0) into 0 9.571 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.571 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.571 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.571 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 9.571 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.571 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.571 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 9.571 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 9.572 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 9.572 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.572 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 9.572 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.572 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 9.572 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.573 * [backup-simplify]: Simplify (* 2 0) into 0 9.573 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 9.573 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 9.573 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) 9.574 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) 9.576 * [backup-simplify]: Simplify (+ 0) into 0 9.577 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 9.577 * [backup-simplify]: Simplify (+ 0 0) into 0 9.578 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 9.578 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.579 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 9.579 * [backup-simplify]: Simplify (- 0) into 0 9.580 * [backup-simplify]: Simplify (+ 0 0) into 0 9.580 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 9.580 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.580 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 9.581 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.581 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.581 * [backup-simplify]: Simplify (+ 0 0) into 0 9.581 * [backup-simplify]: Simplify (+ 0 0) into 0 9.582 * [backup-simplify]: Simplify (+ 0 0) into 0 9.582 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 9.582 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 9.583 * [backup-simplify]: Simplify (+ 0) into 0 9.583 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 9.584 * [backup-simplify]: Simplify (+ 0 0) into 0 9.584 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 9.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.586 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 9.586 * [backup-simplify]: Simplify (- 0) into 0 9.586 * [backup-simplify]: Simplify (+ 0 0) into 0 9.587 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 9.588 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.588 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 9.589 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 9.589 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 9.590 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 9.590 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 9.592 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 9.592 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 9.592 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 9.592 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 9.592 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.592 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.592 * [backup-simplify]: Simplify phi2 into phi2 9.592 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 9.592 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.592 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.592 * [backup-simplify]: Simplify phi1 into phi1 9.592 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 9.592 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.592 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.592 * [backup-simplify]: Simplify 0 into 0 9.592 * [backup-simplify]: Simplify 1 into 1 9.592 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 9.592 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 9.592 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 9.592 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.592 * [backup-simplify]: Simplify 0.5 into 0.5 9.592 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 9.592 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.592 * [backup-simplify]: Simplify phi1 into phi1 9.592 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.592 * [backup-simplify]: Simplify phi2 into phi2 9.592 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.592 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.593 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.593 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.593 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.593 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.593 * [backup-simplify]: Simplify (- 0) into 0 9.594 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.594 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 9.594 * [taylor]: Taking taylor expansion of 2 in lambda2 9.594 * [backup-simplify]: Simplify 2 into 2 9.594 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 9.594 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.594 * [backup-simplify]: Simplify phi1 into phi1 9.594 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.594 * [backup-simplify]: Simplify phi2 into phi2 9.594 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.594 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.594 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 9.594 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 9.594 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.595 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 9.595 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 9.595 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 9.595 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 9.596 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.596 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.596 * [backup-simplify]: Simplify (+ 0 0) into 0 9.596 * [backup-simplify]: Simplify (+ 0 0) into 0 9.597 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 9.597 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 9.598 * [backup-simplify]: Simplify (- 0) into 0 9.598 * [backup-simplify]: Simplify (+ 0 0) into 0 9.598 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0 9.599 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 9.599 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 9.599 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 9.599 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 9.599 * [taylor]: Taking taylor expansion of phi2 in phi1 9.599 * [backup-simplify]: Simplify phi2 into phi2 9.599 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.599 * [taylor]: Taking taylor expansion of phi1 in phi1 9.599 * [backup-simplify]: Simplify 0 into 0 9.599 * [backup-simplify]: Simplify 1 into 1 9.599 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 9.599 * [taylor]: Taking taylor expansion of 2 in phi1 9.599 * [backup-simplify]: Simplify 2 into 2 9.599 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 9.599 * [taylor]: Taking taylor expansion of phi1 in phi1 9.599 * [backup-simplify]: Simplify 0 into 0 9.599 * [backup-simplify]: Simplify 1 into 1 9.599 * [taylor]: Taking taylor expansion of phi2 in phi1 9.599 * [backup-simplify]: Simplify phi2 into phi2 9.599 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.599 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 9.599 * [backup-simplify]: Simplify (* 0 phi2) into 0 9.600 * [backup-simplify]: Simplify (* 2 0) into 0 9.600 * [backup-simplify]: Simplify (- 0) into 0 9.600 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 9.600 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 9.601 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.601 * [backup-simplify]: Simplify (+ 0 0) into 0 9.601 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 9.602 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 9.602 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 9.602 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 9.602 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 9.602 * [taylor]: Taking taylor expansion of phi2 in phi2 9.602 * [backup-simplify]: Simplify 0 into 0 9.602 * [backup-simplify]: Simplify 1 into 1 9.602 * [backup-simplify]: Simplify 0 into 0 9.602 * [taylor]: Taking taylor expansion of (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2 9.602 * [taylor]: Taking taylor expansion of -1 in lambda2 9.602 * [backup-simplify]: Simplify -1 into -1 9.603 * [taylor]: Taking taylor expansion of (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2 9.603 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 9.603 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.603 * [backup-simplify]: Simplify 0 into 0 9.603 * [backup-simplify]: Simplify 1 into 1 9.603 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 9.603 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 9.603 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 9.603 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.603 * [backup-simplify]: Simplify 0.5 into 0.5 9.603 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 9.603 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.603 * [backup-simplify]: Simplify phi1 into phi1 9.603 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.603 * [backup-simplify]: Simplify phi2 into phi2 9.603 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.603 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.603 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.603 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.603 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.604 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.604 * [backup-simplify]: Simplify (- 0) into 0 9.604 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.604 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 9.604 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 9.604 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 9.604 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 9.604 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.604 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.604 * [backup-simplify]: Simplify phi2 into phi2 9.604 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 9.605 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.605 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.605 * [backup-simplify]: Simplify phi1 into phi1 9.605 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 9.605 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.605 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.605 * [backup-simplify]: Simplify 0 into 0 9.605 * [backup-simplify]: Simplify 1 into 1 9.605 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 9.605 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 9.605 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 9.605 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.605 * [backup-simplify]: Simplify 0.5 into 0.5 9.605 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 9.605 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.605 * [backup-simplify]: Simplify phi1 into phi1 9.605 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.605 * [backup-simplify]: Simplify phi2 into phi2 9.605 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.605 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.605 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.605 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.606 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.606 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.606 * [backup-simplify]: Simplify (- 0) into 0 9.606 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.606 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 9.606 * [taylor]: Taking taylor expansion of 2 in lambda2 9.606 * [backup-simplify]: Simplify 2 into 2 9.606 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 9.606 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.606 * [backup-simplify]: Simplify phi1 into phi1 9.606 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.606 * [backup-simplify]: Simplify phi2 into phi2 9.607 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.607 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.607 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 9.607 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 9.607 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.607 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 9.607 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 9.608 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 9.608 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 9.608 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) 9.609 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.609 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.609 * [backup-simplify]: Simplify (+ 0 0) into 0 9.609 * [backup-simplify]: Simplify (+ 0 0) into 0 9.610 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 9.610 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 9.610 * [backup-simplify]: Simplify (- 0) into 0 9.611 * [backup-simplify]: Simplify (+ 0 0) into 0 9.612 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 9.612 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 9.612 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.613 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 9.613 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0 9.614 * [backup-simplify]: Simplify (* -1 0) into 0 9.614 * [taylor]: Taking taylor expansion of 0 in phi1 9.614 * [backup-simplify]: Simplify 0 into 0 9.614 * [taylor]: Taking taylor expansion of 0 in phi2 9.614 * [backup-simplify]: Simplify 0 into 0 9.614 * [backup-simplify]: Simplify 0 into 0 9.614 * [taylor]: Taking taylor expansion of 0 in phi1 9.614 * [backup-simplify]: Simplify 0 into 0 9.614 * [taylor]: Taking taylor expansion of 0 in phi2 9.614 * [backup-simplify]: Simplify 0 into 0 9.614 * [backup-simplify]: Simplify 0 into 0 9.614 * [taylor]: Taking taylor expansion of -1 in phi2 9.614 * [backup-simplify]: Simplify -1 into -1 9.614 * [backup-simplify]: Simplify -1 into -1 9.614 * [backup-simplify]: Simplify 1 into 1 9.615 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.616 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0 9.616 * [backup-simplify]: Simplify (+ 0 0) into 0 9.617 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0 9.618 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.618 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0 9.619 * [backup-simplify]: Simplify (- 0) into 0 9.619 * [backup-simplify]: Simplify (+ 0 0) into 0 9.620 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0 9.620 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 9.621 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into 0 9.622 * [backup-simplify]: Simplify (* 1 1) into 1 9.622 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.622 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.623 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 9.623 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 9.623 * [backup-simplify]: Simplify (+ 0 0) into 0 9.624 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.624 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.624 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0 9.625 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0 9.626 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.627 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0 9.627 * [backup-simplify]: Simplify (+ 0 0) into 0 9.628 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0 9.628 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.629 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0 9.629 * [backup-simplify]: Simplify (- 0) into 0 9.629 * [backup-simplify]: Simplify (+ 0 0) into 0 9.629 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0 9.630 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into 0 9.630 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0))) into 0 9.631 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0))) into 0 9.631 * [backup-simplify]: Simplify (+ 0 0) into 0 9.632 * [backup-simplify]: Simplify (- 0) into 0 9.632 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.634 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 9.634 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2 9.634 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.634 * [backup-simplify]: Simplify 1/2 into 1/2 9.634 * [taylor]: Taking taylor expansion of (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2 9.634 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 9.634 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 9.634 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 9.634 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 9.634 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.634 * [backup-simplify]: Simplify 0.5 into 0.5 9.634 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 9.634 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.634 * [backup-simplify]: Simplify phi1 into phi1 9.634 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.634 * [backup-simplify]: Simplify phi2 into phi2 9.634 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.634 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.634 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.634 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.634 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.634 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.635 * [backup-simplify]: Simplify (- 0) into 0 9.635 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.635 * [taylor]: Taking taylor expansion of (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 9.635 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) in lambda2 9.635 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.635 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.635 * [backup-simplify]: Simplify 0 into 0 9.635 * [backup-simplify]: Simplify 1 into 1 9.635 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 4) in lambda2 9.635 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 9.635 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 9.635 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.635 * [backup-simplify]: Simplify 0.5 into 0.5 9.635 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 9.635 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.635 * [backup-simplify]: Simplify phi1 into phi1 9.635 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.635 * [backup-simplify]: Simplify phi2 into phi2 9.635 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.635 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.636 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.636 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.636 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.636 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.636 * [backup-simplify]: Simplify (- 0) into 0 9.636 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.636 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 9.636 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 9.636 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.636 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.636 * [backup-simplify]: Simplify phi2 into phi2 9.636 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 9.636 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.636 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.636 * [backup-simplify]: Simplify phi1 into phi1 9.636 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 9.636 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.636 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.636 * [backup-simplify]: Simplify 0 into 0 9.636 * [backup-simplify]: Simplify 1 into 1 9.636 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 9.636 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 9.636 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 9.636 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.636 * [backup-simplify]: Simplify 0.5 into 0.5 9.637 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 9.637 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.637 * [backup-simplify]: Simplify phi1 into phi1 9.637 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.637 * [backup-simplify]: Simplify phi2 into phi2 9.637 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.637 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.637 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.637 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.637 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.637 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.637 * [backup-simplify]: Simplify (- 0) into 0 9.637 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.637 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 9.637 * [taylor]: Taking taylor expansion of 2 in lambda2 9.637 * [backup-simplify]: Simplify 2 into 2 9.637 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 9.637 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.637 * [backup-simplify]: Simplify phi1 into phi1 9.637 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.637 * [backup-simplify]: Simplify phi2 into phi2 9.638 * [backup-simplify]: Simplify (* 1 1) into 1 9.638 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.638 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4) 9.638 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 4)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4) 9.638 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.638 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.638 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 9.638 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 9.639 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.639 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 9.639 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 9.639 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 9.639 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 9.639 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 9.639 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 9.639 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 9.639 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 9.639 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.639 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.639 * [backup-simplify]: Simplify phi2 into phi2 9.639 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 9.639 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.639 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.639 * [backup-simplify]: Simplify phi1 into phi1 9.639 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 9.639 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.639 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.639 * [backup-simplify]: Simplify 0 into 0 9.639 * [backup-simplify]: Simplify 1 into 1 9.640 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 9.640 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 9.640 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 9.640 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.640 * [backup-simplify]: Simplify 0.5 into 0.5 9.640 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 9.640 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.640 * [backup-simplify]: Simplify phi1 into phi1 9.640 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.640 * [backup-simplify]: Simplify phi2 into phi2 9.640 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 9.640 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 9.640 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 9.640 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 9.640 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 9.640 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 9.640 * [backup-simplify]: Simplify (- 0) into 0 9.640 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 9.640 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 9.641 * [taylor]: Taking taylor expansion of 2 in lambda2 9.641 * [backup-simplify]: Simplify 2 into 2 9.641 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 9.641 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.641 * [backup-simplify]: Simplify phi1 into phi1 9.641 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.641 * [backup-simplify]: Simplify phi2 into phi2 9.641 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.641 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.641 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 9.641 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 9.641 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.641 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 9.641 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 9.641 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 9.642 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 9.642 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) 9.642 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.642 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.642 * [backup-simplify]: Simplify (+ 0 0) into 0 9.642 * [backup-simplify]: Simplify (+ 0 0) into 0 9.643 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 9.643 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 9.643 * [backup-simplify]: Simplify (- 0) into 0 9.643 * [backup-simplify]: Simplify (+ 0 0) into 0 9.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 9.644 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 9.644 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.644 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.645 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 9.645 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 9.645 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 9.645 * [taylor]: Taking taylor expansion of 1/2 in phi1 9.645 * [backup-simplify]: Simplify 1/2 into 1/2 9.645 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 9.645 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 9.645 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 9.645 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 9.645 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 9.645 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 9.645 * [taylor]: Taking taylor expansion of phi2 in phi1 9.645 * [backup-simplify]: Simplify phi2 into phi2 9.645 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.645 * [taylor]: Taking taylor expansion of phi1 in phi1 9.645 * [backup-simplify]: Simplify 0 into 0 9.645 * [backup-simplify]: Simplify 1 into 1 9.645 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 9.645 * [taylor]: Taking taylor expansion of 2 in phi1 9.645 * [backup-simplify]: Simplify 2 into 2 9.645 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 9.646 * [taylor]: Taking taylor expansion of phi1 in phi1 9.646 * [backup-simplify]: Simplify 0 into 0 9.646 * [backup-simplify]: Simplify 1 into 1 9.646 * [taylor]: Taking taylor expansion of phi2 in phi1 9.646 * [backup-simplify]: Simplify phi2 into phi2 9.646 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.646 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 9.646 * [backup-simplify]: Simplify (* 0 phi2) into 0 9.646 * [backup-simplify]: Simplify (* 2 0) into 0 9.646 * [backup-simplify]: Simplify (- 0) into 0 9.646 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 9.647 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.647 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 9.647 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.647 * [backup-simplify]: Simplify (+ 0 0) into 0 9.647 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 9.648 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 9.648 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 9.648 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 9.648 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 9.648 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 9.648 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 9.648 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 9.648 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 9.648 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.648 * [backup-simplify]: Simplify 0.5 into 0.5 9.648 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 9.648 * [taylor]: Taking taylor expansion of phi1 in phi1 9.649 * [backup-simplify]: Simplify 0 into 0 9.649 * [backup-simplify]: Simplify 1 into 1 9.649 * [taylor]: Taking taylor expansion of phi2 in phi1 9.649 * [backup-simplify]: Simplify phi2 into phi2 9.649 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 9.649 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.649 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.649 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.649 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.649 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.649 * [backup-simplify]: Simplify (- 0) into 0 9.649 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.649 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 9.649 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 9.650 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 9.650 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 9.650 * [taylor]: Taking taylor expansion of 1/2 in phi2 9.650 * [backup-simplify]: Simplify 1/2 into 1/2 9.650 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 9.650 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 9.650 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 9.650 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 9.650 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.650 * [backup-simplify]: Simplify 0.5 into 0.5 9.650 * [taylor]: Taking taylor expansion of phi2 in phi2 9.650 * [backup-simplify]: Simplify 0 into 0 9.650 * [backup-simplify]: Simplify 1 into 1 9.650 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.651 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.651 * [taylor]: Taking taylor expansion of phi2 in phi2 9.651 * [backup-simplify]: Simplify 0 into 0 9.651 * [backup-simplify]: Simplify 1 into 1 9.651 * [backup-simplify]: Simplify (* 1 1) into 1 9.652 * [backup-simplify]: Simplify (/ 1 1) into 1 9.652 * [backup-simplify]: Simplify (+ 0) into 0 9.652 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.653 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 9.653 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 9.653 * [backup-simplify]: Simplify 0 into 0 9.654 * [backup-simplify]: Simplify (+ 0) into 0 9.654 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 9.654 * [backup-simplify]: Simplify (+ 0 0) into 0 9.654 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 9.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.656 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 9.656 * [backup-simplify]: Simplify (- 0) into 0 9.656 * [backup-simplify]: Simplify (+ 0 0) into 0 9.657 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 9.657 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.658 * [backup-simplify]: Simplify (+ (* 0 0) (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 9.659 * [backup-simplify]: Simplify (+ (* -1 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 9.660 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 9.660 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 9.660 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 9.660 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 9.660 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 9.660 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 9.660 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 9.660 * [taylor]: Taking taylor expansion of phi2 in phi1 9.660 * [backup-simplify]: Simplify phi2 into phi2 9.660 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.660 * [taylor]: Taking taylor expansion of phi1 in phi1 9.660 * [backup-simplify]: Simplify 0 into 0 9.660 * [backup-simplify]: Simplify 1 into 1 9.660 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 9.660 * [taylor]: Taking taylor expansion of 2 in phi1 9.660 * [backup-simplify]: Simplify 2 into 2 9.660 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 9.660 * [taylor]: Taking taylor expansion of phi1 in phi1 9.660 * [backup-simplify]: Simplify 0 into 0 9.660 * [backup-simplify]: Simplify 1 into 1 9.660 * [taylor]: Taking taylor expansion of phi2 in phi1 9.660 * [backup-simplify]: Simplify phi2 into phi2 9.660 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.660 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 9.660 * [backup-simplify]: Simplify (* 0 phi2) into 0 9.661 * [backup-simplify]: Simplify (* 2 0) into 0 9.661 * [backup-simplify]: Simplify (- 0) into 0 9.661 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 9.662 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.662 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 9.662 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.662 * [backup-simplify]: Simplify (+ 0 0) into 0 9.663 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 9.663 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 9.663 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 9.663 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 9.664 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 9.664 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 9.664 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 9.664 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 9.664 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 9.664 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.664 * [backup-simplify]: Simplify 0.5 into 0.5 9.664 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 9.664 * [taylor]: Taking taylor expansion of phi1 in phi1 9.664 * [backup-simplify]: Simplify 0 into 0 9.664 * [backup-simplify]: Simplify 1 into 1 9.664 * [taylor]: Taking taylor expansion of phi2 in phi1 9.664 * [backup-simplify]: Simplify phi2 into phi2 9.664 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 9.664 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.664 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.664 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.665 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.665 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.665 * [backup-simplify]: Simplify (- 0) into 0 9.665 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.665 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 9.666 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 9.666 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 9.666 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 9.666 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 9.666 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 9.666 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 9.666 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 9.666 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.666 * [backup-simplify]: Simplify 0.5 into 0.5 9.666 * [taylor]: Taking taylor expansion of phi2 in phi2 9.666 * [backup-simplify]: Simplify 0 into 0 9.666 * [backup-simplify]: Simplify 1 into 1 9.667 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.668 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.668 * [taylor]: Taking taylor expansion of phi2 in phi2 9.668 * [backup-simplify]: Simplify 0 into 0 9.668 * [backup-simplify]: Simplify 1 into 1 9.668 * [backup-simplify]: Simplify (* 1 1) into 1 9.669 * [backup-simplify]: Simplify (/ 1 1) into 1 9.669 * [backup-simplify]: Simplify (+ 0) into 0 9.670 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.670 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 9.671 * [backup-simplify]: Simplify (- 0) into 0 9.671 * [backup-simplify]: Simplify 0 into 0 9.671 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 9.672 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 9.672 * [backup-simplify]: Simplify (* 1 1) into 1 9.672 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.672 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.673 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.673 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.673 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0 9.674 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0 9.675 * [backup-simplify]: Simplify (- 0) into 0 9.675 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 9.676 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow 0 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 9.676 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 9.676 * [taylor]: Taking taylor expansion of 1/2 in phi1 9.676 * [backup-simplify]: Simplify 1/2 into 1/2 9.676 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 9.676 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 9.676 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 9.676 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 9.676 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 9.676 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 9.676 * [taylor]: Taking taylor expansion of phi2 in phi1 9.676 * [backup-simplify]: Simplify phi2 into phi2 9.676 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.676 * [taylor]: Taking taylor expansion of phi1 in phi1 9.677 * [backup-simplify]: Simplify 0 into 0 9.677 * [backup-simplify]: Simplify 1 into 1 9.677 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 9.677 * [taylor]: Taking taylor expansion of 2 in phi1 9.677 * [backup-simplify]: Simplify 2 into 2 9.677 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 9.677 * [taylor]: Taking taylor expansion of phi1 in phi1 9.677 * [backup-simplify]: Simplify 0 into 0 9.677 * [backup-simplify]: Simplify 1 into 1 9.677 * [taylor]: Taking taylor expansion of phi2 in phi1 9.677 * [backup-simplify]: Simplify phi2 into phi2 9.677 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.677 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 9.677 * [backup-simplify]: Simplify (* 0 phi2) into 0 9.677 * [backup-simplify]: Simplify (* 2 0) into 0 9.678 * [backup-simplify]: Simplify (- 0) into 0 9.678 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 9.678 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.678 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 9.678 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.679 * [backup-simplify]: Simplify (+ 0 0) into 0 9.679 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 9.680 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 9.680 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 9.680 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 9.680 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 9.680 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 9.681 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 9.681 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 9.681 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 9.681 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.681 * [backup-simplify]: Simplify 0.5 into 0.5 9.681 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 9.681 * [taylor]: Taking taylor expansion of phi1 in phi1 9.681 * [backup-simplify]: Simplify 0 into 0 9.681 * [backup-simplify]: Simplify 1 into 1 9.681 * [taylor]: Taking taylor expansion of phi2 in phi1 9.681 * [backup-simplify]: Simplify phi2 into phi2 9.681 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 9.681 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 9.681 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 9.681 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 9.681 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 9.681 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 9.682 * [backup-simplify]: Simplify (- 0) into 0 9.682 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 9.682 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 9.682 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 9.682 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 9.682 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 9.682 * [taylor]: Taking taylor expansion of 1/2 in phi2 9.682 * [backup-simplify]: Simplify 1/2 into 1/2 9.682 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 9.682 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 9.682 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 9.683 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 9.683 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.683 * [backup-simplify]: Simplify 0.5 into 0.5 9.683 * [taylor]: Taking taylor expansion of phi2 in phi2 9.683 * [backup-simplify]: Simplify 0 into 0 9.683 * [backup-simplify]: Simplify 1 into 1 9.683 * [backup-simplify]: Simplify (* 0.5 0) into 0 9.685 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 9.685 * [taylor]: Taking taylor expansion of phi2 in phi2 9.685 * [backup-simplify]: Simplify 0 into 0 9.685 * [backup-simplify]: Simplify 1 into 1 9.685 * [backup-simplify]: Simplify (* 1 1) into 1 9.685 * [backup-simplify]: Simplify (/ 1 1) into 1 9.686 * [backup-simplify]: Simplify (+ 0) into 0 9.686 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.687 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 9.688 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 9.688 * [backup-simplify]: Simplify 0 into 0 9.688 * [taylor]: Taking taylor expansion of 0 in phi2 9.688 * [backup-simplify]: Simplify 0 into 0 9.688 * [backup-simplify]: Simplify 0 into 0 9.688 * [taylor]: Taking taylor expansion of 0 in phi2 9.688 * [backup-simplify]: Simplify 0 into 0 9.688 * [backup-simplify]: Simplify 0 into 0 9.689 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 9.689 * [backup-simplify]: Simplify (* 1 1) into 1 9.689 * [backup-simplify]: Simplify (+ 0 1) into 1 9.690 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi2))) into 0 9.691 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 9.691 * [backup-simplify]: Simplify (- 0) into 0 9.692 * [backup-simplify]: Simplify (+ 1 0) into 1 9.692 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 9.692 * [taylor]: Taking taylor expansion of 0 in phi2 9.692 * [backup-simplify]: Simplify 0 into 0 9.692 * [backup-simplify]: Simplify 0 into 0 9.693 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 9.695 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (* (* (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) 9.695 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in (lambda1 lambda2 phi1 phi2) around 0 9.695 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in phi2 9.695 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in phi2 9.695 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in phi2 9.695 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 9.695 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.695 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.696 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.696 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.696 * [backup-simplify]: Simplify 0.5 into 0.5 9.696 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.696 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.696 * [taylor]: Taking taylor expansion of phi1 in phi2 9.696 * [backup-simplify]: Simplify phi1 into phi1 9.696 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.696 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.696 * [taylor]: Taking taylor expansion of phi2 in phi2 9.696 * [backup-simplify]: Simplify 0 into 0 9.696 * [backup-simplify]: Simplify 1 into 1 9.696 * [backup-simplify]: Simplify (/ 1 1) into 1 9.697 * [backup-simplify]: Simplify (+ 0 1) into 1 9.697 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.698 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.698 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 9.698 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.698 * [backup-simplify]: Simplify lambda1 into lambda1 9.698 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.698 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.698 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 9.698 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in phi2 9.699 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 9.699 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.699 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.699 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.699 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.699 * [backup-simplify]: Simplify 0.5 into 0.5 9.699 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.699 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.699 * [taylor]: Taking taylor expansion of phi1 in phi2 9.699 * [backup-simplify]: Simplify phi1 into phi1 9.699 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.699 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.699 * [taylor]: Taking taylor expansion of phi2 in phi2 9.699 * [backup-simplify]: Simplify 0 into 0 9.699 * [backup-simplify]: Simplify 1 into 1 9.699 * [backup-simplify]: Simplify (/ 1 1) into 1 9.699 * [backup-simplify]: Simplify (+ 0 1) into 1 9.700 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.700 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.700 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 9.700 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.700 * [backup-simplify]: Simplify lambda2 into lambda2 9.700 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.700 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.700 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 9.700 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in phi2 9.700 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 9.700 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.700 * [taylor]: Taking taylor expansion of phi1 in phi2 9.700 * [backup-simplify]: Simplify phi1 into phi1 9.700 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.701 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.701 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 9.701 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.701 * [taylor]: Taking taylor expansion of phi2 in phi2 9.701 * [backup-simplify]: Simplify 0 into 0 9.701 * [backup-simplify]: Simplify 1 into 1 9.701 * [backup-simplify]: Simplify (* 1 1) into 1 9.701 * [backup-simplify]: Simplify (/ 1 1) into 1 9.701 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in phi2 9.701 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2 9.701 * [taylor]: Taking taylor expansion of 2 in phi2 9.701 * [backup-simplify]: Simplify 2 into 2 9.701 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2 9.701 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 9.701 * [taylor]: Taking taylor expansion of phi1 in phi2 9.701 * [backup-simplify]: Simplify phi1 into phi1 9.701 * [taylor]: Taking taylor expansion of phi2 in phi2 9.701 * [backup-simplify]: Simplify 0 into 0 9.701 * [backup-simplify]: Simplify 1 into 1 9.701 * [backup-simplify]: Simplify (* phi1 0) into 0 9.702 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 9.702 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.702 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in phi2 9.702 * [taylor]: Taking taylor expansion of 2 in phi2 9.702 * [backup-simplify]: Simplify 2 into 2 9.702 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in phi2 9.702 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.702 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.702 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.702 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.702 * [backup-simplify]: Simplify 0.5 into 0.5 9.702 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.702 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.702 * [taylor]: Taking taylor expansion of phi1 in phi2 9.702 * [backup-simplify]: Simplify phi1 into phi1 9.702 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.702 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.702 * [taylor]: Taking taylor expansion of phi2 in phi2 9.702 * [backup-simplify]: Simplify 0 into 0 9.702 * [backup-simplify]: Simplify 1 into 1 9.702 * [backup-simplify]: Simplify (/ 1 1) into 1 9.702 * [backup-simplify]: Simplify (+ 0 1) into 1 9.703 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.703 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.703 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in phi2 9.703 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.703 * [backup-simplify]: Simplify lambda1 into lambda1 9.703 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.703 * [backup-simplify]: Simplify lambda2 into lambda2 9.703 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.703 * [backup-simplify]: Simplify (* lambda1 lambda2) into (* lambda2 lambda1) 9.703 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) 9.704 * [backup-simplify]: Simplify (+ 0 1) into 1 9.704 * [backup-simplify]: Simplify (+ 0 1) into 1 9.704 * [backup-simplify]: Simplify (+ 0 1) into 1 9.704 * [backup-simplify]: Simplify (+ 1 0) into 1 9.705 * [backup-simplify]: Simplify (sqrt 1) into 1 9.705 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.706 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.706 * [backup-simplify]: Simplify (+ 0 0) into 0 9.706 * [backup-simplify]: Simplify (+ 0 0) into 0 9.706 * [backup-simplify]: Simplify (+ 0 0) into 0 9.706 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 9.706 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 9.706 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 9.706 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 9.707 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 9.707 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in phi1 9.707 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in phi1 9.707 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in phi1 9.707 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 9.707 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.707 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.707 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.707 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.707 * [backup-simplify]: Simplify 0.5 into 0.5 9.707 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.707 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.707 * [taylor]: Taking taylor expansion of phi1 in phi1 9.707 * [backup-simplify]: Simplify 0 into 0 9.707 * [backup-simplify]: Simplify 1 into 1 9.707 * [backup-simplify]: Simplify (/ 1 1) into 1 9.707 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.707 * [taylor]: Taking taylor expansion of phi2 in phi1 9.707 * [backup-simplify]: Simplify phi2 into phi2 9.708 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.708 * [backup-simplify]: Simplify (+ 1 0) into 1 9.708 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.708 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.708 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.708 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.708 * [backup-simplify]: Simplify lambda1 into lambda1 9.708 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.708 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.709 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 9.709 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in phi1 9.709 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 9.709 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.709 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.709 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.709 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.709 * [backup-simplify]: Simplify 0.5 into 0.5 9.709 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.709 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.709 * [taylor]: Taking taylor expansion of phi1 in phi1 9.709 * [backup-simplify]: Simplify 0 into 0 9.709 * [backup-simplify]: Simplify 1 into 1 9.709 * [backup-simplify]: Simplify (/ 1 1) into 1 9.709 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.709 * [taylor]: Taking taylor expansion of phi2 in phi1 9.709 * [backup-simplify]: Simplify phi2 into phi2 9.709 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.710 * [backup-simplify]: Simplify (+ 1 0) into 1 9.710 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.710 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.710 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.710 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.710 * [backup-simplify]: Simplify lambda2 into lambda2 9.710 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.710 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.710 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 9.711 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in phi1 9.711 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 9.711 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.711 * [taylor]: Taking taylor expansion of phi1 in phi1 9.711 * [backup-simplify]: Simplify 0 into 0 9.711 * [backup-simplify]: Simplify 1 into 1 9.713 * [backup-simplify]: Simplify (* 1 1) into 1 9.713 * [backup-simplify]: Simplify (/ 1 1) into 1 9.713 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 9.713 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 9.713 * [taylor]: Taking taylor expansion of phi2 in phi1 9.713 * [backup-simplify]: Simplify phi2 into phi2 9.713 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.714 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.714 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in phi1 9.714 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 9.714 * [taylor]: Taking taylor expansion of 2 in phi1 9.714 * [backup-simplify]: Simplify 2 into 2 9.714 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 9.714 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 9.714 * [taylor]: Taking taylor expansion of phi1 in phi1 9.714 * [backup-simplify]: Simplify 0 into 0 9.714 * [backup-simplify]: Simplify 1 into 1 9.714 * [taylor]: Taking taylor expansion of phi2 in phi1 9.714 * [backup-simplify]: Simplify phi2 into phi2 9.714 * [backup-simplify]: Simplify (* 0 phi2) into 0 9.714 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 9.714 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.714 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in phi1 9.714 * [taylor]: Taking taylor expansion of 2 in phi1 9.714 * [backup-simplify]: Simplify 2 into 2 9.714 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in phi1 9.714 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.714 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.714 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.715 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.715 * [backup-simplify]: Simplify 0.5 into 0.5 9.715 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.715 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.715 * [taylor]: Taking taylor expansion of phi1 in phi1 9.715 * [backup-simplify]: Simplify 0 into 0 9.715 * [backup-simplify]: Simplify 1 into 1 9.715 * [backup-simplify]: Simplify (/ 1 1) into 1 9.715 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.715 * [taylor]: Taking taylor expansion of phi2 in phi1 9.715 * [backup-simplify]: Simplify phi2 into phi2 9.715 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.715 * [backup-simplify]: Simplify (+ 1 0) into 1 9.716 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.716 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.716 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in phi1 9.716 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.716 * [backup-simplify]: Simplify lambda1 into lambda1 9.716 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.716 * [backup-simplify]: Simplify lambda2 into lambda2 9.716 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.716 * [backup-simplify]: Simplify (* lambda1 lambda2) into (* lambda2 lambda1) 9.716 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) 9.717 * [backup-simplify]: Simplify (+ 1 0) into 1 9.717 * [backup-simplify]: Simplify (+ 0 1) into 1 9.717 * [backup-simplify]: Simplify (+ 0 1) into 1 9.717 * [backup-simplify]: Simplify (+ 1 0) into 1 9.718 * [backup-simplify]: Simplify (sqrt 1) into 1 9.718 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.718 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.719 * [backup-simplify]: Simplify (+ 0 0) into 0 9.719 * [backup-simplify]: Simplify (+ 0 0) into 0 9.719 * [backup-simplify]: Simplify (+ 0 0) into 0 9.719 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 9.719 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 9.719 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 9.719 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 9.720 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 9.720 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda2 9.720 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda2 9.720 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda2 9.720 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 9.720 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 9.720 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.720 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.720 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.720 * [backup-simplify]: Simplify 0.5 into 0.5 9.720 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.720 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.720 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.720 * [backup-simplify]: Simplify phi1 into phi1 9.720 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.720 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.720 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.720 * [backup-simplify]: Simplify phi2 into phi2 9.720 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.720 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.720 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.720 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.720 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.721 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.721 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.721 * [backup-simplify]: Simplify (- 0) into 0 9.721 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.721 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 9.721 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.721 * [backup-simplify]: Simplify lambda1 into lambda1 9.721 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.721 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.722 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 9.722 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda2 9.722 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 9.722 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 9.722 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.722 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.722 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.722 * [backup-simplify]: Simplify 0.5 into 0.5 9.722 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.722 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.722 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.722 * [backup-simplify]: Simplify phi1 into phi1 9.722 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.722 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.722 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.722 * [backup-simplify]: Simplify phi2 into phi2 9.722 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.722 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.722 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.722 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.722 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.722 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.722 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.723 * [backup-simplify]: Simplify (- 0) into 0 9.723 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.723 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.723 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.723 * [backup-simplify]: Simplify 0 into 0 9.723 * [backup-simplify]: Simplify 1 into 1 9.723 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.723 * [backup-simplify]: Simplify (* 1 1) into 1 9.724 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.724 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2 9.724 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 9.724 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.724 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.724 * [backup-simplify]: Simplify phi1 into phi1 9.724 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.724 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.724 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 9.724 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.724 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.724 * [backup-simplify]: Simplify phi2 into phi2 9.724 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.724 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.724 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda2 9.724 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 9.724 * [taylor]: Taking taylor expansion of 2 in lambda2 9.724 * [backup-simplify]: Simplify 2 into 2 9.724 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 9.724 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 9.724 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.724 * [backup-simplify]: Simplify phi1 into phi1 9.724 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.724 * [backup-simplify]: Simplify phi2 into phi2 9.724 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.724 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 9.724 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda2 9.724 * [taylor]: Taking taylor expansion of 2 in lambda2 9.724 * [backup-simplify]: Simplify 2 into 2 9.724 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda2 9.724 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 9.724 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.724 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.724 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.724 * [backup-simplify]: Simplify 0.5 into 0.5 9.724 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.724 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.724 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.724 * [backup-simplify]: Simplify phi1 into phi1 9.724 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.724 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.724 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.724 * [backup-simplify]: Simplify phi2 into phi2 9.725 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.725 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.725 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.725 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.725 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.725 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.725 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.725 * [backup-simplify]: Simplify (- 0) into 0 9.725 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.726 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda2 9.726 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.726 * [backup-simplify]: Simplify lambda1 into lambda1 9.726 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.726 * [backup-simplify]: Simplify 0 into 0 9.726 * [backup-simplify]: Simplify 1 into 1 9.726 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.726 * [backup-simplify]: Simplify (* lambda1 0) into 0 9.726 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 9.726 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 9.726 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.727 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.727 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.727 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.727 * [backup-simplify]: Simplify (+ 0) into 0 9.728 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.728 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.728 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.728 * [backup-simplify]: Simplify (+ 0 0) into 0 9.728 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.729 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.729 * [backup-simplify]: Simplify (- 0) into 0 9.730 * [backup-simplify]: Simplify (+ 0 0) into 0 9.730 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.730 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.731 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 9.731 * [backup-simplify]: Simplify (+ 0 0) into 0 9.732 * [backup-simplify]: Simplify (+ 0 0) into 0 9.732 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 9.732 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 9.732 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 9.733 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 9.733 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 9.733 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda1 9.733 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda1 9.733 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda1 9.733 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 9.733 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.733 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.733 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.733 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.733 * [backup-simplify]: Simplify 0.5 into 0.5 9.733 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.733 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.733 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.733 * [backup-simplify]: Simplify phi1 into phi1 9.733 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.733 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.733 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.733 * [backup-simplify]: Simplify phi2 into phi2 9.733 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.733 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.733 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.734 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.734 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.734 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.734 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.734 * [backup-simplify]: Simplify (- 0) into 0 9.734 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.734 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.734 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.734 * [backup-simplify]: Simplify 0 into 0 9.734 * [backup-simplify]: Simplify 1 into 1 9.735 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.735 * [backup-simplify]: Simplify (* 1 1) into 1 9.735 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.735 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda1 9.735 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 9.735 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.735 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.735 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.735 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.735 * [backup-simplify]: Simplify 0.5 into 0.5 9.735 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.735 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.735 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.735 * [backup-simplify]: Simplify phi1 into phi1 9.735 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.735 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.735 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.735 * [backup-simplify]: Simplify phi2 into phi2 9.735 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.735 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.735 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.736 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.736 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.736 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.736 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.736 * [backup-simplify]: Simplify (- 0) into 0 9.736 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.736 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.736 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.736 * [backup-simplify]: Simplify lambda2 into lambda2 9.736 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.737 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.737 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 9.737 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda1 9.737 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 9.737 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 9.737 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.737 * [backup-simplify]: Simplify phi1 into phi1 9.737 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.737 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.737 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 9.737 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 9.737 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.737 * [backup-simplify]: Simplify phi2 into phi2 9.737 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.737 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.737 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda1 9.737 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 9.737 * [taylor]: Taking taylor expansion of 2 in lambda1 9.737 * [backup-simplify]: Simplify 2 into 2 9.737 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 9.737 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 9.737 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.737 * [backup-simplify]: Simplify phi1 into phi1 9.737 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.737 * [backup-simplify]: Simplify phi2 into phi2 9.737 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.737 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 9.737 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda1 9.737 * [taylor]: Taking taylor expansion of 2 in lambda1 9.737 * [backup-simplify]: Simplify 2 into 2 9.737 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda1 9.737 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.737 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.737 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.738 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.738 * [backup-simplify]: Simplify 0.5 into 0.5 9.738 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.738 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.738 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.738 * [backup-simplify]: Simplify phi1 into phi1 9.738 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.738 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.738 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.738 * [backup-simplify]: Simplify phi2 into phi2 9.738 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.738 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.738 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.738 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.738 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.738 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.738 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.739 * [backup-simplify]: Simplify (- 0) into 0 9.739 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.739 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda1 9.739 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.739 * [backup-simplify]: Simplify 0 into 0 9.739 * [backup-simplify]: Simplify 1 into 1 9.739 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.739 * [backup-simplify]: Simplify lambda2 into lambda2 9.739 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.739 * [backup-simplify]: Simplify (* 0 lambda2) into 0 9.740 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda2)) into lambda2 9.740 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 9.740 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.740 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.741 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.741 * [backup-simplify]: Simplify (+ 0) into 0 9.742 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.742 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.742 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.742 * [backup-simplify]: Simplify (+ 0 0) into 0 9.743 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.744 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.744 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.745 * [backup-simplify]: Simplify (- 0) into 0 9.745 * [backup-simplify]: Simplify (+ 0 0) into 0 9.745 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.746 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.747 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 9.748 * [backup-simplify]: Simplify (+ 0 0) into 0 9.748 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 9.749 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 9.749 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.750 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.750 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 9.750 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda1 9.750 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda1 9.750 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda1 9.751 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 9.751 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.751 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.751 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.751 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.751 * [backup-simplify]: Simplify 0.5 into 0.5 9.751 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.751 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.751 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.751 * [backup-simplify]: Simplify phi1 into phi1 9.751 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.751 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.751 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.751 * [backup-simplify]: Simplify phi2 into phi2 9.751 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.751 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.751 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.751 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.752 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.752 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.752 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.752 * [backup-simplify]: Simplify (- 0) into 0 9.753 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.753 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.753 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.753 * [backup-simplify]: Simplify 0 into 0 9.753 * [backup-simplify]: Simplify 1 into 1 9.753 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.753 * [backup-simplify]: Simplify (* 1 1) into 1 9.754 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.754 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda1 9.754 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 9.754 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.754 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.754 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.754 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.754 * [backup-simplify]: Simplify 0.5 into 0.5 9.754 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.754 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.754 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.754 * [backup-simplify]: Simplify phi1 into phi1 9.754 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.754 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.754 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.754 * [backup-simplify]: Simplify phi2 into phi2 9.754 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.754 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.755 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.755 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.755 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.755 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.755 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.755 * [backup-simplify]: Simplify (- 0) into 0 9.755 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.756 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.756 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.756 * [backup-simplify]: Simplify lambda2 into lambda2 9.756 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.756 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.756 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 9.756 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda1 9.756 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 9.756 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 9.756 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.756 * [backup-simplify]: Simplify phi1 into phi1 9.756 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.756 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.756 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 9.756 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 9.756 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.756 * [backup-simplify]: Simplify phi2 into phi2 9.756 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.756 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.756 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda1 9.756 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 9.756 * [taylor]: Taking taylor expansion of 2 in lambda1 9.756 * [backup-simplify]: Simplify 2 into 2 9.756 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 9.757 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 9.757 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.757 * [backup-simplify]: Simplify phi1 into phi1 9.757 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.757 * [backup-simplify]: Simplify phi2 into phi2 9.757 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.757 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 9.757 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda1 9.757 * [taylor]: Taking taylor expansion of 2 in lambda1 9.757 * [backup-simplify]: Simplify 2 into 2 9.757 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda1 9.757 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.757 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.757 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.757 * [taylor]: Taking taylor expansion of 0.5 in lambda1 9.757 * [backup-simplify]: Simplify 0.5 into 0.5 9.757 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.757 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.757 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.757 * [backup-simplify]: Simplify phi1 into phi1 9.757 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.757 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.757 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.757 * [backup-simplify]: Simplify phi2 into phi2 9.757 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.757 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.757 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.757 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.757 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.757 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.758 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.758 * [backup-simplify]: Simplify (- 0) into 0 9.758 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.758 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda1 9.758 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.758 * [backup-simplify]: Simplify 0 into 0 9.758 * [backup-simplify]: Simplify 1 into 1 9.758 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.758 * [backup-simplify]: Simplify lambda2 into lambda2 9.758 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.758 * [backup-simplify]: Simplify (* 0 lambda2) into 0 9.759 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda2)) into lambda2 9.759 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 9.759 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.759 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.759 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.760 * [backup-simplify]: Simplify (+ 0) into 0 9.760 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.760 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.760 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.760 * [backup-simplify]: Simplify (+ 0 0) into 0 9.761 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.761 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.762 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.762 * [backup-simplify]: Simplify (- 0) into 0 9.762 * [backup-simplify]: Simplify (+ 0 0) into 0 9.762 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.763 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.763 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 9.764 * [backup-simplify]: Simplify (+ 0 0) into 0 9.764 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 9.764 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 9.764 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.765 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.765 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 9.765 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.765 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.765 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.765 * [backup-simplify]: Simplify 0.5 into 0.5 9.765 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.765 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.765 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.765 * [backup-simplify]: Simplify phi1 into phi1 9.765 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.765 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.765 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.765 * [backup-simplify]: Simplify phi2 into phi2 9.765 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.765 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.766 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.766 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.766 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.766 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 9.766 * [taylor]: Taking taylor expansion of -1 in lambda2 9.766 * [backup-simplify]: Simplify -1 into -1 9.766 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 9.766 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.766 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.766 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.766 * [backup-simplify]: Simplify 0.5 into 0.5 9.766 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.766 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.766 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.766 * [backup-simplify]: Simplify phi1 into phi1 9.766 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.766 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.766 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.766 * [backup-simplify]: Simplify phi2 into phi2 9.766 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.766 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.766 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.766 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.766 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.766 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.766 * [backup-simplify]: Simplify 0 into 0 9.766 * [backup-simplify]: Simplify 1 into 1 9.767 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.767 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.767 * [backup-simplify]: Simplify (- 0) into 0 9.767 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.767 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.767 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.767 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.767 * [taylor]: Taking taylor expansion of -1 in phi1 9.767 * [backup-simplify]: Simplify -1 into -1 9.767 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.767 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.767 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.767 * [backup-simplify]: Simplify 0.5 into 0.5 9.768 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.768 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.768 * [taylor]: Taking taylor expansion of phi1 in phi1 9.768 * [backup-simplify]: Simplify 0 into 0 9.768 * [backup-simplify]: Simplify 1 into 1 9.768 * [backup-simplify]: Simplify (/ 1 1) into 1 9.768 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.768 * [taylor]: Taking taylor expansion of phi2 in phi1 9.768 * [backup-simplify]: Simplify phi2 into phi2 9.768 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.768 * [backup-simplify]: Simplify (+ 1 0) into 1 9.768 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.769 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.769 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.769 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.769 * [backup-simplify]: Simplify (- 0) into 0 9.769 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.769 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.769 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.769 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.769 * [backup-simplify]: Simplify 0.5 into 0.5 9.769 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.769 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.769 * [taylor]: Taking taylor expansion of phi1 in phi1 9.769 * [backup-simplify]: Simplify 0 into 0 9.769 * [backup-simplify]: Simplify 1 into 1 9.770 * [backup-simplify]: Simplify (/ 1 1) into 1 9.770 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.770 * [taylor]: Taking taylor expansion of phi2 in phi1 9.770 * [backup-simplify]: Simplify phi2 into phi2 9.770 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.770 * [backup-simplify]: Simplify (+ 1 0) into 1 9.770 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.770 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.771 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.771 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.771 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.772 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.772 * [backup-simplify]: Simplify (+ 0 0) into 0 9.772 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.773 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.773 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.773 * [backup-simplify]: Simplify (- 0) into 0 9.774 * [backup-simplify]: Simplify (+ 0 0) into 0 9.774 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.775 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 9.776 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.776 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 9.776 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) 9.777 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 9.777 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 9.777 * [backup-simplify]: Simplify (+ 0) into 0 9.777 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.778 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.778 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.778 * [backup-simplify]: Simplify (+ 0 0) into 0 9.778 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.779 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.779 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.779 * [backup-simplify]: Simplify (- 0) into 0 9.779 * [backup-simplify]: Simplify (+ 0 0) into 0 9.780 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.780 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda2))) into 0 9.780 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 9.781 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 9.781 * [backup-simplify]: Simplify (+ (/ 2 (* phi1 phi2)) 0) into (* 2 (/ 1 (* phi1 phi2))) 9.781 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi1 phi2)))) into (- (* 2 (/ 1 (* phi1 phi2)))) 9.782 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) 9.783 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.783 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 9.783 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.783 * [backup-simplify]: Simplify 1/2 into 1/2 9.783 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.783 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2 9.783 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2 9.783 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 9.783 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.783 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.783 * [backup-simplify]: Simplify phi1 into phi1 9.783 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.783 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.783 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 9.783 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.783 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.783 * [backup-simplify]: Simplify phi2 into phi2 9.783 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.783 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.783 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 9.783 * [taylor]: Taking taylor expansion of 2 in lambda2 9.783 * [backup-simplify]: Simplify 2 into 2 9.783 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 9.784 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 9.784 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.784 * [backup-simplify]: Simplify phi1 into phi1 9.784 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.784 * [backup-simplify]: Simplify phi2 into phi2 9.784 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.784 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 9.784 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.784 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.784 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.784 * [backup-simplify]: Simplify 0.5 into 0.5 9.784 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.784 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.784 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.784 * [backup-simplify]: Simplify phi1 into phi1 9.784 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.784 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.784 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.784 * [backup-simplify]: Simplify phi2 into phi2 9.784 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.784 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.784 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.784 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.784 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.784 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 9.784 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 9.785 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 9.785 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 9.785 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.785 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.785 * [backup-simplify]: Simplify (- 0) into 0 9.785 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.786 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.786 * [backup-simplify]: Simplify (+ 0) into 0 9.787 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.787 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.787 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.787 * [backup-simplify]: Simplify (+ 0 0) into 0 9.788 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.789 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.789 * [backup-simplify]: Simplify (- 0) into 0 9.790 * [backup-simplify]: Simplify (+ 0 0) into 0 9.791 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 9.791 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.791 * [taylor]: Taking taylor expansion of 0 in phi1 9.791 * [backup-simplify]: Simplify 0 into 0 9.792 * [backup-simplify]: Simplify (+ 0) into 0 9.792 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.792 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.793 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.793 * [backup-simplify]: Simplify (+ 0 0) into 0 9.793 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.794 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.795 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.795 * [backup-simplify]: Simplify (- 0) into 0 9.795 * [backup-simplify]: Simplify (+ 0 0) into 0 9.795 * [taylor]: Taking taylor expansion of 0 in phi1 9.796 * [backup-simplify]: Simplify 0 into 0 9.796 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.796 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 9.796 * [taylor]: Taking taylor expansion of -1 in phi2 9.796 * [backup-simplify]: Simplify -1 into -1 9.796 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.796 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.796 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.796 * [backup-simplify]: Simplify 0.5 into 0.5 9.796 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.796 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.796 * [taylor]: Taking taylor expansion of phi1 in phi2 9.796 * [backup-simplify]: Simplify phi1 into phi1 9.796 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.796 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.796 * [taylor]: Taking taylor expansion of phi2 in phi2 9.796 * [backup-simplify]: Simplify 0 into 0 9.796 * [backup-simplify]: Simplify 1 into 1 9.797 * [backup-simplify]: Simplify (/ 1 1) into 1 9.797 * [backup-simplify]: Simplify (+ 0 1) into 1 9.797 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.798 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.798 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.798 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.798 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.798 * [backup-simplify]: Simplify 0.5 into 0.5 9.798 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.798 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.798 * [taylor]: Taking taylor expansion of phi1 in phi2 9.798 * [backup-simplify]: Simplify phi1 into phi1 9.798 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.798 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.798 * [taylor]: Taking taylor expansion of phi2 in phi2 9.798 * [backup-simplify]: Simplify 0 into 0 9.798 * [backup-simplify]: Simplify 1 into 1 9.799 * [backup-simplify]: Simplify (/ 1 1) into 1 9.799 * [backup-simplify]: Simplify (+ 0 1) into 1 9.800 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.800 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.801 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 9.802 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 9.802 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.802 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.802 * [backup-simplify]: Simplify (+ 0 0) into 0 9.804 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.805 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 9.806 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 9.806 * [backup-simplify]: Simplify (- 0) into 0 9.807 * [backup-simplify]: Simplify (+ 0 0) into 0 9.808 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 9.809 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 9.811 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.811 * [backup-simplify]: Simplify (+ 0) into 0 9.812 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.812 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.812 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.812 * [backup-simplify]: Simplify (+ 0 0) into 0 9.813 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.814 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.814 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.815 * [backup-simplify]: Simplify (- 0) into 0 9.815 * [backup-simplify]: Simplify (+ 0 0) into 0 9.815 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.816 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 9.816 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 9.816 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.817 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 9.817 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.817 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 9.818 * [backup-simplify]: Simplify (+ 0 0) into 0 9.818 * [backup-simplify]: Simplify (+ 0 0) into 0 9.818 * [backup-simplify]: Simplify (+ 0 0) into 0 9.818 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 9.819 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi1 phi2)) (/ 0 (* phi1 phi2))))) into 0 9.819 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi1 phi2)))) into 0 9.820 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.821 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.821 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.821 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.822 * [backup-simplify]: Simplify (+ 0 0) into 0 9.823 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.824 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.825 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.825 * [backup-simplify]: Simplify (- 0) into 0 9.825 * [backup-simplify]: Simplify (+ 0 0) into 0 9.826 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.827 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda2)))) into 0 9.828 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 9.829 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 9.829 * [backup-simplify]: Simplify (+ 0 0) into 0 9.830 * [backup-simplify]: Simplify (- 0) into 0 9.830 * [backup-simplify]: Simplify (+ 0 0) into 0 9.831 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.832 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 9.832 * [taylor]: Taking taylor expansion of 1/2 in lambda2 9.832 * [backup-simplify]: Simplify 1/2 into 1/2 9.832 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 9.832 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2 9.832 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2 9.832 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2 9.832 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2 9.832 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.832 * [backup-simplify]: Simplify 0 into 0 9.832 * [backup-simplify]: Simplify 1 into 1 9.832 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.832 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.832 * [backup-simplify]: Simplify phi2 into phi2 9.832 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.832 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0 9.832 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 9.833 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2) 9.833 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.833 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 9.833 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 9.833 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.833 * [backup-simplify]: Simplify 0 into 0 9.833 * [backup-simplify]: Simplify 1 into 1 9.833 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.833 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.833 * [backup-simplify]: Simplify phi1 into phi1 9.833 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.833 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 9.833 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 9.836 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 9.836 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.836 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2 9.836 * [taylor]: Taking taylor expansion of 2 in lambda2 9.836 * [backup-simplify]: Simplify 2 into 2 9.836 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2 9.836 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2 9.836 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.836 * [backup-simplify]: Simplify 0 into 0 9.836 * [backup-simplify]: Simplify 1 into 1 9.836 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 9.836 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.836 * [backup-simplify]: Simplify phi1 into phi1 9.836 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.836 * [backup-simplify]: Simplify phi2 into phi2 9.836 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.836 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0 9.836 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 9.837 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2) 9.837 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 9.837 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.837 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.837 * [taylor]: Taking taylor expansion of 0.5 in lambda2 9.837 * [backup-simplify]: Simplify 0.5 into 0.5 9.837 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.837 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.837 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.837 * [backup-simplify]: Simplify phi1 into phi1 9.837 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.838 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.838 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.838 * [backup-simplify]: Simplify phi2 into phi2 9.838 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.838 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.838 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.838 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.838 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.839 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 9.839 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 9.839 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 9.839 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 9.839 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.840 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.840 * [backup-simplify]: Simplify (- 0) into 0 9.840 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.841 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.841 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.842 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 9.842 * [taylor]: Taking taylor expansion of 1/2 in phi1 9.842 * [backup-simplify]: Simplify 1/2 into 1/2 9.842 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.842 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 9.842 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 9.842 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 9.842 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 9.842 * [taylor]: Taking taylor expansion of phi2 in phi1 9.842 * [backup-simplify]: Simplify phi2 into phi2 9.842 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.842 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.842 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 9.842 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.842 * [taylor]: Taking taylor expansion of phi1 in phi1 9.842 * [backup-simplify]: Simplify 0 into 0 9.842 * [backup-simplify]: Simplify 1 into 1 9.843 * [backup-simplify]: Simplify (* 1 1) into 1 9.843 * [backup-simplify]: Simplify (/ 1 1) into 1 9.843 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 9.843 * [taylor]: Taking taylor expansion of 2 in phi1 9.843 * [backup-simplify]: Simplify 2 into 2 9.843 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 9.843 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 9.843 * [taylor]: Taking taylor expansion of phi1 in phi1 9.843 * [backup-simplify]: Simplify 0 into 0 9.843 * [backup-simplify]: Simplify 1 into 1 9.843 * [taylor]: Taking taylor expansion of phi2 in phi1 9.843 * [backup-simplify]: Simplify phi2 into phi2 9.843 * [backup-simplify]: Simplify (* 0 phi2) into 0 9.844 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 9.844 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.844 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.844 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.844 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.844 * [backup-simplify]: Simplify 0.5 into 0.5 9.844 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.844 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.844 * [taylor]: Taking taylor expansion of phi1 in phi1 9.844 * [backup-simplify]: Simplify 0 into 0 9.844 * [backup-simplify]: Simplify 1 into 1 9.844 * [backup-simplify]: Simplify (/ 1 1) into 1 9.845 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.845 * [taylor]: Taking taylor expansion of phi2 in phi1 9.845 * [backup-simplify]: Simplify phi2 into phi2 9.845 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.845 * [backup-simplify]: Simplify (+ 1 0) into 1 9.846 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.846 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.846 * [backup-simplify]: Simplify (+ 0 1) into 1 9.847 * [backup-simplify]: Simplify (+ 1 0) into 1 9.847 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.848 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.849 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.850 * [backup-simplify]: Simplify (+ 0 0) into 0 9.850 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 9.850 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 9.850 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 9.851 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))) 9.851 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) 9.851 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2 9.851 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2 9.851 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2 9.851 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.851 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.851 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.851 * [backup-simplify]: Simplify 0.5 into 0.5 9.852 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.852 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.852 * [taylor]: Taking taylor expansion of phi1 in phi2 9.852 * [backup-simplify]: Simplify phi1 into phi1 9.852 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.852 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.852 * [taylor]: Taking taylor expansion of phi2 in phi2 9.852 * [backup-simplify]: Simplify 0 into 0 9.852 * [backup-simplify]: Simplify 1 into 1 9.852 * [backup-simplify]: Simplify (/ 1 1) into 1 9.853 * [backup-simplify]: Simplify (+ 0 1) into 1 9.853 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.853 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.853 * [taylor]: Taking taylor expansion of phi2 in phi2 9.853 * [backup-simplify]: Simplify 0 into 0 9.853 * [backup-simplify]: Simplify 1 into 1 9.854 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.854 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.854 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.855 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.855 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.856 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.856 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 9.856 * [taylor]: Taking taylor expansion of 1/2 in phi1 9.856 * [backup-simplify]: Simplify 1/2 into 1/2 9.856 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.856 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 9.856 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 9.856 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 9.856 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 9.856 * [taylor]: Taking taylor expansion of phi2 in phi1 9.856 * [backup-simplify]: Simplify phi2 into phi2 9.856 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.856 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.856 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 9.856 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.856 * [taylor]: Taking taylor expansion of phi1 in phi1 9.856 * [backup-simplify]: Simplify 0 into 0 9.856 * [backup-simplify]: Simplify 1 into 1 9.857 * [backup-simplify]: Simplify (* 1 1) into 1 9.857 * [backup-simplify]: Simplify (/ 1 1) into 1 9.857 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 9.857 * [taylor]: Taking taylor expansion of 2 in phi1 9.857 * [backup-simplify]: Simplify 2 into 2 9.857 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 9.857 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 9.858 * [taylor]: Taking taylor expansion of phi1 in phi1 9.858 * [backup-simplify]: Simplify 0 into 0 9.858 * [backup-simplify]: Simplify 1 into 1 9.858 * [taylor]: Taking taylor expansion of phi2 in phi1 9.858 * [backup-simplify]: Simplify phi2 into phi2 9.858 * [backup-simplify]: Simplify (* 0 phi2) into 0 9.858 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 9.858 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.858 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.858 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.858 * [taylor]: Taking taylor expansion of 0.5 in phi1 9.858 * [backup-simplify]: Simplify 0.5 into 0.5 9.858 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.858 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.858 * [taylor]: Taking taylor expansion of phi1 in phi1 9.858 * [backup-simplify]: Simplify 0 into 0 9.858 * [backup-simplify]: Simplify 1 into 1 9.859 * [backup-simplify]: Simplify (/ 1 1) into 1 9.859 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.859 * [taylor]: Taking taylor expansion of phi2 in phi1 9.859 * [backup-simplify]: Simplify phi2 into phi2 9.859 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.859 * [backup-simplify]: Simplify (+ 1 0) into 1 9.860 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.860 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.861 * [backup-simplify]: Simplify (+ 0 1) into 1 9.861 * [backup-simplify]: Simplify (+ 1 0) into 1 9.861 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.862 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.863 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.863 * [backup-simplify]: Simplify (+ 0 0) into 0 9.863 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 9.863 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 9.863 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 9.864 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))) 9.865 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) 9.865 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2 9.865 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2 9.865 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2 9.865 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.865 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.865 * [taylor]: Taking taylor expansion of 0.5 in phi2 9.865 * [backup-simplify]: Simplify 0.5 into 0.5 9.865 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.865 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.865 * [taylor]: Taking taylor expansion of phi1 in phi2 9.865 * [backup-simplify]: Simplify phi1 into phi1 9.865 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.865 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.865 * [taylor]: Taking taylor expansion of phi2 in phi2 9.865 * [backup-simplify]: Simplify 0 into 0 9.865 * [backup-simplify]: Simplify 1 into 1 9.866 * [backup-simplify]: Simplify (/ 1 1) into 1 9.866 * [backup-simplify]: Simplify (+ 0 1) into 1 9.866 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 9.867 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.867 * [taylor]: Taking taylor expansion of phi2 in phi2 9.867 * [backup-simplify]: Simplify 0 into 0 9.867 * [backup-simplify]: Simplify 1 into 1 9.867 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.868 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.868 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.868 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.868 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 9.869 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.870 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.870 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.871 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.871 * [backup-simplify]: Simplify (+ 0 0) into 0 9.872 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.873 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.873 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.874 * [backup-simplify]: Simplify (- 0) into 0 9.874 * [backup-simplify]: Simplify (+ 0 0) into 0 9.875 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 9.877 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 9.877 * [taylor]: Taking taylor expansion of 0 in phi1 9.877 * [backup-simplify]: Simplify 0 into 0 9.878 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 9.878 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 9.879 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 9.879 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 9.879 * [backup-simplify]: Simplify (+ 0 0) into 0 9.880 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 9.881 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 9.882 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 9.882 * [backup-simplify]: Simplify (- 0) into 0 9.882 * [backup-simplify]: Simplify (+ 0 0) into 0 9.882 * [taylor]: Taking taylor expansion of 0 in phi1 9.882 * [backup-simplify]: Simplify 0 into 0 9.882 * [taylor]: Taking taylor expansion of 0 in phi2 9.883 * [backup-simplify]: Simplify 0 into 0 9.883 * [taylor]: Taking taylor expansion of 0 in phi2 9.883 * [backup-simplify]: Simplify 0 into 0 9.883 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.883 * [taylor]: Taking taylor expansion of 0 in phi2 9.883 * [backup-simplify]: Simplify 0 into 0 9.883 * [taylor]: Taking taylor expansion of 0 in phi2 9.883 * [backup-simplify]: Simplify 0 into 0 9.884 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.884 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.886 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1)))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2))))))) into (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2)))))) 9.888 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (* (* (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 9.888 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 9.888 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi2 9.888 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi2 9.888 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in phi2 9.888 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 9.888 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.889 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.889 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.889 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.889 * [backup-simplify]: Simplify -0.5 into -0.5 9.889 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.889 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.889 * [taylor]: Taking taylor expansion of phi1 in phi2 9.889 * [backup-simplify]: Simplify phi1 into phi1 9.889 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.889 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.889 * [taylor]: Taking taylor expansion of phi2 in phi2 9.889 * [backup-simplify]: Simplify 0 into 0 9.889 * [backup-simplify]: Simplify 1 into 1 9.889 * [backup-simplify]: Simplify (/ 1 1) into 1 9.890 * [backup-simplify]: Simplify (+ 0 1) into 1 9.890 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.891 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.891 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 9.891 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.891 * [backup-simplify]: Simplify lambda2 into lambda2 9.891 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.891 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.892 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 9.892 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in phi2 9.892 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 9.892 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 9.892 * [taylor]: Taking taylor expansion of phi1 in phi2 9.892 * [backup-simplify]: Simplify phi1 into phi1 9.892 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.892 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.892 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in phi2 9.892 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 9.892 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.892 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.892 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.892 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.892 * [backup-simplify]: Simplify -0.5 into -0.5 9.892 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.892 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.892 * [taylor]: Taking taylor expansion of phi1 in phi2 9.892 * [backup-simplify]: Simplify phi1 into phi1 9.892 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.892 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.892 * [taylor]: Taking taylor expansion of phi2 in phi2 9.892 * [backup-simplify]: Simplify 0 into 0 9.892 * [backup-simplify]: Simplify 1 into 1 9.893 * [backup-simplify]: Simplify (/ 1 1) into 1 9.893 * [backup-simplify]: Simplify (+ 0 1) into 1 9.894 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.894 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.894 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 9.894 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.894 * [backup-simplify]: Simplify lambda1 into lambda1 9.894 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.895 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.895 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 9.895 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 9.895 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 9.895 * [taylor]: Taking taylor expansion of phi2 in phi2 9.895 * [backup-simplify]: Simplify 0 into 0 9.895 * [backup-simplify]: Simplify 1 into 1 9.896 * [backup-simplify]: Simplify (* 1 1) into 1 9.896 * [backup-simplify]: Simplify (/ 1 1) into 1 9.896 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 9.896 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2 9.896 * [taylor]: Taking taylor expansion of 2 in phi2 9.896 * [backup-simplify]: Simplify 2 into 2 9.896 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2 9.896 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 9.896 * [taylor]: Taking taylor expansion of phi1 in phi2 9.896 * [backup-simplify]: Simplify phi1 into phi1 9.896 * [taylor]: Taking taylor expansion of phi2 in phi2 9.896 * [backup-simplify]: Simplify 0 into 0 9.896 * [backup-simplify]: Simplify 1 into 1 9.896 * [backup-simplify]: Simplify (* phi1 0) into 0 9.897 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 9.897 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.897 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 9.897 * [taylor]: Taking taylor expansion of 2 in phi2 9.897 * [backup-simplify]: Simplify 2 into 2 9.897 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 9.897 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 9.897 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 9.897 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 9.897 * [taylor]: Taking taylor expansion of -0.5 in phi2 9.897 * [backup-simplify]: Simplify -0.5 into -0.5 9.897 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 9.897 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 9.897 * [taylor]: Taking taylor expansion of phi1 in phi2 9.897 * [backup-simplify]: Simplify phi1 into phi1 9.897 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.897 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 9.897 * [taylor]: Taking taylor expansion of phi2 in phi2 9.897 * [backup-simplify]: Simplify 0 into 0 9.897 * [backup-simplify]: Simplify 1 into 1 9.898 * [backup-simplify]: Simplify (/ 1 1) into 1 9.898 * [backup-simplify]: Simplify (+ 0 1) into 1 9.899 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.899 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.899 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 9.899 * [taylor]: Taking taylor expansion of lambda2 in phi2 9.899 * [backup-simplify]: Simplify lambda2 into lambda2 9.899 * [taylor]: Taking taylor expansion of lambda1 in phi2 9.899 * [backup-simplify]: Simplify lambda1 into lambda1 9.899 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.899 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.900 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 9.900 * [backup-simplify]: Simplify (+ 0 1) into 1 9.901 * [backup-simplify]: Simplify (+ 0 1) into 1 9.901 * [backup-simplify]: Simplify (+ 0 1) into 1 9.902 * [backup-simplify]: Simplify (+ 1 0) into 1 9.902 * [backup-simplify]: Simplify (sqrt 1) into 1 9.903 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.903 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.904 * [backup-simplify]: Simplify (+ 0 0) into 0 9.904 * [backup-simplify]: Simplify (+ 0 0) into 0 9.904 * [backup-simplify]: Simplify (+ 0 0) into 0 9.905 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 9.905 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 9.905 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 9.905 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 9.906 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 9.906 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1 9.906 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 9.906 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in phi1 9.906 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 9.906 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.906 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.906 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.906 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.906 * [backup-simplify]: Simplify -0.5 into -0.5 9.906 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.906 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.906 * [taylor]: Taking taylor expansion of phi1 in phi1 9.906 * [backup-simplify]: Simplify 0 into 0 9.906 * [backup-simplify]: Simplify 1 into 1 9.906 * [backup-simplify]: Simplify (/ 1 1) into 1 9.906 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.907 * [taylor]: Taking taylor expansion of phi2 in phi1 9.907 * [backup-simplify]: Simplify phi2 into phi2 9.907 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.907 * [backup-simplify]: Simplify (+ 1 0) into 1 9.908 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.908 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.908 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 9.908 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.908 * [backup-simplify]: Simplify lambda2 into lambda2 9.908 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.909 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.909 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 9.909 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in phi1 9.909 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 9.909 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 9.909 * [taylor]: Taking taylor expansion of phi1 in phi1 9.909 * [backup-simplify]: Simplify 0 into 0 9.909 * [backup-simplify]: Simplify 1 into 1 9.910 * [backup-simplify]: Simplify (* 1 1) into 1 9.910 * [backup-simplify]: Simplify (/ 1 1) into 1 9.910 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in phi1 9.910 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 9.910 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.910 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.910 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.910 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.910 * [backup-simplify]: Simplify -0.5 into -0.5 9.910 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.910 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.910 * [taylor]: Taking taylor expansion of phi1 in phi1 9.910 * [backup-simplify]: Simplify 0 into 0 9.910 * [backup-simplify]: Simplify 1 into 1 9.911 * [backup-simplify]: Simplify (/ 1 1) into 1 9.911 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.911 * [taylor]: Taking taylor expansion of phi2 in phi1 9.911 * [backup-simplify]: Simplify phi2 into phi2 9.911 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.911 * [backup-simplify]: Simplify (+ 1 0) into 1 9.912 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.912 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.912 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 9.912 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.912 * [backup-simplify]: Simplify lambda1 into lambda1 9.913 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.913 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.913 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 9.913 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 9.913 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 9.913 * [taylor]: Taking taylor expansion of phi2 in phi1 9.913 * [backup-simplify]: Simplify phi2 into phi2 9.913 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.914 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.914 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 9.914 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 9.914 * [taylor]: Taking taylor expansion of 2 in phi1 9.914 * [backup-simplify]: Simplify 2 into 2 9.914 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 9.914 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 9.914 * [taylor]: Taking taylor expansion of phi1 in phi1 9.914 * [backup-simplify]: Simplify 0 into 0 9.914 * [backup-simplify]: Simplify 1 into 1 9.914 * [taylor]: Taking taylor expansion of phi2 in phi1 9.914 * [backup-simplify]: Simplify phi2 into phi2 9.914 * [backup-simplify]: Simplify (* 0 phi2) into 0 9.915 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 9.915 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.915 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 9.915 * [taylor]: Taking taylor expansion of 2 in phi1 9.915 * [backup-simplify]: Simplify 2 into 2 9.915 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 9.915 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 9.915 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.915 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.915 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.915 * [backup-simplify]: Simplify -0.5 into -0.5 9.915 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.915 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.915 * [taylor]: Taking taylor expansion of phi1 in phi1 9.915 * [backup-simplify]: Simplify 0 into 0 9.915 * [backup-simplify]: Simplify 1 into 1 9.915 * [backup-simplify]: Simplify (/ 1 1) into 1 9.915 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.915 * [taylor]: Taking taylor expansion of phi2 in phi1 9.915 * [backup-simplify]: Simplify phi2 into phi2 9.916 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.916 * [backup-simplify]: Simplify (+ 1 0) into 1 9.916 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.917 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.917 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 9.917 * [taylor]: Taking taylor expansion of lambda2 in phi1 9.917 * [backup-simplify]: Simplify lambda2 into lambda2 9.917 * [taylor]: Taking taylor expansion of lambda1 in phi1 9.917 * [backup-simplify]: Simplify lambda1 into lambda1 9.917 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.917 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 9.918 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 9.918 * [backup-simplify]: Simplify (+ 1 0) into 1 9.919 * [backup-simplify]: Simplify (+ 0 1) into 1 9.919 * [backup-simplify]: Simplify (+ 1 0) into 1 9.920 * [backup-simplify]: Simplify (sqrt 1) into 1 9.920 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.921 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 9.921 * [backup-simplify]: Simplify (+ 0 0) into 0 9.922 * [backup-simplify]: Simplify (+ 0 0) into 0 9.922 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 9.922 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 9.922 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 9.922 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 9.923 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 9.923 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2 9.923 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2 9.923 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda2 9.923 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 9.923 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 9.923 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.924 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.924 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.924 * [backup-simplify]: Simplify -0.5 into -0.5 9.924 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.924 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.924 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.924 * [backup-simplify]: Simplify phi1 into phi1 9.924 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.924 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.924 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.924 * [backup-simplify]: Simplify phi2 into phi2 9.924 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.924 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.924 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.924 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.925 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.925 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.925 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.925 * [backup-simplify]: Simplify (- 0) into 0 9.926 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.926 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 9.926 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.926 * [backup-simplify]: Simplify 0 into 0 9.926 * [backup-simplify]: Simplify 1 into 1 9.926 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.926 * [backup-simplify]: Simplify (* 1 1) into 1 9.927 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.927 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda2 9.927 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 9.927 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 9.927 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.927 * [backup-simplify]: Simplify phi1 into phi1 9.927 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.927 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.927 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda2 9.927 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 9.927 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 9.927 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.927 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.927 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.927 * [backup-simplify]: Simplify -0.5 into -0.5 9.927 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.927 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.927 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.927 * [backup-simplify]: Simplify phi1 into phi1 9.928 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.928 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.928 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.928 * [backup-simplify]: Simplify phi2 into phi2 9.928 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.928 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.928 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.928 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.928 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.929 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.929 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.929 * [backup-simplify]: Simplify (- 0) into 0 9.929 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.929 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 9.929 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.930 * [backup-simplify]: Simplify lambda1 into lambda1 9.930 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.930 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 9.930 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 9.930 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 9.930 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 9.930 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.931 * [backup-simplify]: Simplify phi2 into phi2 9.931 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.931 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.931 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 9.931 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 9.931 * [taylor]: Taking taylor expansion of 2 in lambda2 9.931 * [backup-simplify]: Simplify 2 into 2 9.931 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 9.931 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 9.931 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.931 * [backup-simplify]: Simplify phi1 into phi1 9.931 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.931 * [backup-simplify]: Simplify phi2 into phi2 9.931 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.931 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 9.931 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 9.931 * [taylor]: Taking taylor expansion of 2 in lambda2 9.931 * [backup-simplify]: Simplify 2 into 2 9.931 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 9.931 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 9.931 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.931 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.931 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.931 * [backup-simplify]: Simplify -0.5 into -0.5 9.931 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.932 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.932 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.932 * [backup-simplify]: Simplify phi1 into phi1 9.932 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.932 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.932 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.932 * [backup-simplify]: Simplify phi2 into phi2 9.932 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.932 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.932 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.932 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.932 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.933 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.933 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.933 * [backup-simplify]: Simplify (- 0) into 0 9.934 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.934 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 9.934 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.934 * [backup-simplify]: Simplify 0 into 0 9.934 * [backup-simplify]: Simplify 1 into 1 9.934 * [taylor]: Taking taylor expansion of lambda1 in lambda2 9.934 * [backup-simplify]: Simplify lambda1 into lambda1 9.934 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.934 * [backup-simplify]: Simplify (* 0 lambda1) into 0 9.935 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 9.935 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 9.935 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.935 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.936 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.936 * [backup-simplify]: Simplify (+ 0) into 0 9.937 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.937 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.937 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.937 * [backup-simplify]: Simplify (+ 0 0) into 0 9.938 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.939 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.939 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.940 * [backup-simplify]: Simplify (- 0) into 0 9.940 * [backup-simplify]: Simplify (+ 0 0) into 0 9.940 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.941 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.942 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 9.943 * [backup-simplify]: Simplify (+ 0 0) into 0 9.943 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 9.943 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 9.944 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 9.945 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 9.945 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 9.945 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 9.945 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 9.945 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda1 9.945 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 9.945 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.946 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.946 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.946 * [taylor]: Taking taylor expansion of -0.5 in lambda1 9.946 * [backup-simplify]: Simplify -0.5 into -0.5 9.946 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.946 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.946 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.946 * [backup-simplify]: Simplify phi1 into phi1 9.946 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.946 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.946 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.946 * [backup-simplify]: Simplify phi2 into phi2 9.946 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.946 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.946 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.946 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.947 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.947 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.947 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.947 * [backup-simplify]: Simplify (- 0) into 0 9.948 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.948 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.948 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.948 * [backup-simplify]: Simplify lambda2 into lambda2 9.948 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.948 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.949 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 9.949 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda1 9.949 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 9.949 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 9.949 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.949 * [backup-simplify]: Simplify phi1 into phi1 9.949 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.949 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.949 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda1 9.949 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 9.949 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.949 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.949 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.949 * [taylor]: Taking taylor expansion of -0.5 in lambda1 9.949 * [backup-simplify]: Simplify -0.5 into -0.5 9.949 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.949 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.949 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.949 * [backup-simplify]: Simplify phi1 into phi1 9.949 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.949 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.949 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.949 * [backup-simplify]: Simplify phi2 into phi2 9.949 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.950 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.950 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.950 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.950 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.950 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.950 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.951 * [backup-simplify]: Simplify (- 0) into 0 9.951 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.951 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.951 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.951 * [backup-simplify]: Simplify 0 into 0 9.951 * [backup-simplify]: Simplify 1 into 1 9.952 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.952 * [backup-simplify]: Simplify (* 1 1) into 1 9.952 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.952 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 9.952 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 9.952 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.952 * [backup-simplify]: Simplify phi2 into phi2 9.952 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.953 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.953 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 9.953 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 9.953 * [taylor]: Taking taylor expansion of 2 in lambda1 9.953 * [backup-simplify]: Simplify 2 into 2 9.953 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 9.953 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 9.953 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.953 * [backup-simplify]: Simplify phi1 into phi1 9.953 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.953 * [backup-simplify]: Simplify phi2 into phi2 9.953 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.953 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 9.953 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 9.953 * [taylor]: Taking taylor expansion of 2 in lambda1 9.953 * [backup-simplify]: Simplify 2 into 2 9.953 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 9.953 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.953 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.953 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.953 * [taylor]: Taking taylor expansion of -0.5 in lambda1 9.953 * [backup-simplify]: Simplify -0.5 into -0.5 9.953 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.953 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.953 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.953 * [backup-simplify]: Simplify phi1 into phi1 9.953 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.953 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.953 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.953 * [backup-simplify]: Simplify phi2 into phi2 9.954 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.954 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.954 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.954 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.954 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.954 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.954 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.955 * [backup-simplify]: Simplify (- 0) into 0 9.955 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.955 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.955 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.955 * [backup-simplify]: Simplify lambda2 into lambda2 9.955 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.955 * [backup-simplify]: Simplify 0 into 0 9.955 * [backup-simplify]: Simplify 1 into 1 9.956 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.956 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.956 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.956 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 9.957 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.957 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.957 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.958 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.958 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.958 * [backup-simplify]: Simplify (+ 0) into 0 9.959 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.959 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.960 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.960 * [backup-simplify]: Simplify (+ 0 0) into 0 9.961 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.962 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.962 * [backup-simplify]: Simplify (- 0) into 0 9.963 * [backup-simplify]: Simplify (+ 0 0) into 0 9.963 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.964 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.965 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 9.965 * [backup-simplify]: Simplify (+ 0 0) into 0 9.965 * [backup-simplify]: Simplify (+ 0 0) into 0 9.966 * [backup-simplify]: Simplify (+ 0 0) into 0 9.966 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 9.967 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 9.967 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.968 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.968 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 9.968 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 9.968 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 9.968 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda1 9.968 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 9.969 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.969 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.969 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.969 * [taylor]: Taking taylor expansion of -0.5 in lambda1 9.969 * [backup-simplify]: Simplify -0.5 into -0.5 9.969 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.969 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.969 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.969 * [backup-simplify]: Simplify phi1 into phi1 9.969 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.969 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.969 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.969 * [backup-simplify]: Simplify phi2 into phi2 9.969 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.969 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.969 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.969 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.970 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.970 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.970 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.970 * [backup-simplify]: Simplify (- 0) into 0 9.971 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.971 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 9.971 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.971 * [backup-simplify]: Simplify lambda2 into lambda2 9.971 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.971 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 9.971 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 9.971 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda1 9.972 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 9.972 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 9.972 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.972 * [backup-simplify]: Simplify phi1 into phi1 9.972 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 9.972 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 9.972 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda1 9.972 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 9.972 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.972 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.972 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.972 * [taylor]: Taking taylor expansion of -0.5 in lambda1 9.972 * [backup-simplify]: Simplify -0.5 into -0.5 9.972 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.972 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.972 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.972 * [backup-simplify]: Simplify phi1 into phi1 9.972 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.972 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.972 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.972 * [backup-simplify]: Simplify phi2 into phi2 9.972 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.972 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.973 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.973 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.973 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.973 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.973 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.974 * [backup-simplify]: Simplify (- 0) into 0 9.974 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.974 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 9.974 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.974 * [backup-simplify]: Simplify 0 into 0 9.974 * [backup-simplify]: Simplify 1 into 1 9.974 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.975 * [backup-simplify]: Simplify (* 1 1) into 1 9.975 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.975 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 9.976 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 9.976 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.976 * [backup-simplify]: Simplify phi2 into phi2 9.976 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 9.976 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 9.977 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 9.977 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 9.977 * [taylor]: Taking taylor expansion of 2 in lambda1 9.977 * [backup-simplify]: Simplify 2 into 2 9.977 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 9.977 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 9.977 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.977 * [backup-simplify]: Simplify phi1 into phi1 9.977 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.977 * [backup-simplify]: Simplify phi2 into phi2 9.977 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 9.977 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 9.977 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 9.977 * [taylor]: Taking taylor expansion of 2 in lambda1 9.977 * [backup-simplify]: Simplify 2 into 2 9.977 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 9.977 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 9.977 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 9.977 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 9.977 * [taylor]: Taking taylor expansion of -0.5 in lambda1 9.977 * [backup-simplify]: Simplify -0.5 into -0.5 9.977 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 9.977 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 9.977 * [taylor]: Taking taylor expansion of phi1 in lambda1 9.977 * [backup-simplify]: Simplify phi1 into phi1 9.977 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.977 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 9.977 * [taylor]: Taking taylor expansion of phi2 in lambda1 9.977 * [backup-simplify]: Simplify phi2 into phi2 9.977 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.978 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.978 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.978 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.978 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.978 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.978 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.979 * [backup-simplify]: Simplify (- 0) into 0 9.979 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.979 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 9.979 * [taylor]: Taking taylor expansion of lambda2 in lambda1 9.979 * [backup-simplify]: Simplify lambda2 into lambda2 9.979 * [taylor]: Taking taylor expansion of lambda1 in lambda1 9.979 * [backup-simplify]: Simplify 0 into 0 9.979 * [backup-simplify]: Simplify 1 into 1 9.980 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.980 * [backup-simplify]: Simplify (* lambda2 0) into 0 9.980 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 9.980 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 9.981 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.981 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.981 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.982 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 9.982 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.982 * [backup-simplify]: Simplify (+ 0) into 0 9.983 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 9.983 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 9.983 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 9.983 * [backup-simplify]: Simplify (+ 0 0) into 0 9.984 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 9.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 9.985 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 9.986 * [backup-simplify]: Simplify (- 0) into 0 9.986 * [backup-simplify]: Simplify (+ 0 0) into 0 9.986 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 9.987 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 9.988 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 9.989 * [backup-simplify]: Simplify (+ 0 0) into 0 9.989 * [backup-simplify]: Simplify (+ 0 0) into 0 9.989 * [backup-simplify]: Simplify (+ 0 0) into 0 9.990 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 9.990 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 9.990 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.991 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 9.992 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 9.992 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.992 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.992 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.992 * [backup-simplify]: Simplify -0.5 into -0.5 9.992 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.992 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.992 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.992 * [backup-simplify]: Simplify phi1 into phi1 9.992 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.992 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.992 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.992 * [backup-simplify]: Simplify phi2 into phi2 9.992 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.992 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.993 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.993 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.993 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.993 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 9.993 * [taylor]: Taking taylor expansion of -1 in lambda2 9.993 * [backup-simplify]: Simplify -1 into -1 9.993 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 9.993 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 9.993 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 9.993 * [taylor]: Taking taylor expansion of -0.5 in lambda2 9.993 * [backup-simplify]: Simplify -0.5 into -0.5 9.993 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 9.993 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 9.993 * [taylor]: Taking taylor expansion of phi1 in lambda2 9.993 * [backup-simplify]: Simplify phi1 into phi1 9.993 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 9.993 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 9.993 * [taylor]: Taking taylor expansion of phi2 in lambda2 9.993 * [backup-simplify]: Simplify phi2 into phi2 9.994 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.994 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 9.994 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 9.994 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.994 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.994 * [taylor]: Taking taylor expansion of lambda2 in lambda2 9.994 * [backup-simplify]: Simplify 0 into 0 9.994 * [backup-simplify]: Simplify 1 into 1 9.995 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.995 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.995 * [backup-simplify]: Simplify (- 0) into 0 9.995 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.996 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.996 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 9.996 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 9.996 * [taylor]: Taking taylor expansion of -1 in phi1 9.996 * [backup-simplify]: Simplify -1 into -1 9.996 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.996 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.996 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.996 * [backup-simplify]: Simplify -0.5 into -0.5 9.996 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.996 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.996 * [taylor]: Taking taylor expansion of phi1 in phi1 9.996 * [backup-simplify]: Simplify 0 into 0 9.996 * [backup-simplify]: Simplify 1 into 1 9.997 * [backup-simplify]: Simplify (/ 1 1) into 1 9.997 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 9.997 * [taylor]: Taking taylor expansion of phi2 in phi1 9.997 * [backup-simplify]: Simplify phi2 into phi2 9.997 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 9.997 * [backup-simplify]: Simplify (+ 1 0) into 1 9.998 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 9.998 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.998 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.998 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 9.999 * [backup-simplify]: Simplify (- 0) into 0 9.999 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 9.999 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 9.999 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 9.999 * [taylor]: Taking taylor expansion of -0.5 in phi1 9.999 * [backup-simplify]: Simplify -0.5 into -0.5 9.999 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 9.999 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 9.999 * [taylor]: Taking taylor expansion of phi1 in phi1 9.999 * [backup-simplify]: Simplify 0 into 0 9.999 * [backup-simplify]: Simplify 1 into 1 10.000 * [backup-simplify]: Simplify (/ 1 1) into 1 10.000 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.000 * [taylor]: Taking taylor expansion of phi2 in phi1 10.000 * [backup-simplify]: Simplify phi2 into phi2 10.000 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.000 * [backup-simplify]: Simplify (+ 1 0) into 1 10.001 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.001 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.002 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.003 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.003 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.003 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.003 * [backup-simplify]: Simplify (+ 0 0) into 0 10.007 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.008 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.008 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.009 * [backup-simplify]: Simplify (- 0) into 0 10.009 * [backup-simplify]: Simplify (+ 0 0) into 0 10.010 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.011 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 10.013 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.013 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi2 2))) into (/ 1 (pow phi2 2)) 10.014 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 10.014 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) 10.015 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 10.015 * [backup-simplify]: Simplify (+ 0) into 0 10.016 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.016 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.016 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.016 * [backup-simplify]: Simplify (+ 0 0) into 0 10.017 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.018 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.019 * [backup-simplify]: Simplify (- 0) into 0 10.019 * [backup-simplify]: Simplify (+ 0 0) into 0 10.019 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.020 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 10.021 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 10.021 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 10.022 * [backup-simplify]: Simplify (+ (/ 2 (* phi1 phi2)) 0) into (* 2 (/ 1 (* phi1 phi2))) 10.022 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi1 phi2)))) into (- (* 2 (/ 1 (* phi1 phi2)))) 10.023 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) 10.025 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.025 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 10.025 * [taylor]: Taking taylor expansion of 1/2 in lambda2 10.025 * [backup-simplify]: Simplify 1/2 into 1/2 10.025 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 10.025 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2 10.025 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 10.025 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 10.025 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 10.025 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.025 * [backup-simplify]: Simplify phi2 into phi2 10.025 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.026 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 10.026 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 10.026 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 10.026 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.026 * [backup-simplify]: Simplify phi1 into phi1 10.026 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.026 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.026 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 10.026 * [taylor]: Taking taylor expansion of 2 in lambda2 10.026 * [backup-simplify]: Simplify 2 into 2 10.026 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 10.026 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 10.026 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.026 * [backup-simplify]: Simplify phi1 into phi1 10.026 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.026 * [backup-simplify]: Simplify phi2 into phi2 10.026 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 10.026 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 10.026 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.026 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.026 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.027 * [backup-simplify]: Simplify -0.5 into -0.5 10.027 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.027 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.027 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.027 * [backup-simplify]: Simplify phi1 into phi1 10.027 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.027 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.027 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.027 * [backup-simplify]: Simplify phi2 into phi2 10.027 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.027 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.027 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.027 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.027 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.028 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 10.028 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 10.028 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 10.029 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 10.029 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.029 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.030 * [backup-simplify]: Simplify (- 0) into 0 10.030 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.030 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.031 * [backup-simplify]: Simplify (+ 0) into 0 10.031 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.031 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.031 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.032 * [backup-simplify]: Simplify (+ 0 0) into 0 10.032 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.032 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.033 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.033 * [backup-simplify]: Simplify (- 0) into 0 10.033 * [backup-simplify]: Simplify (+ 0 0) into 0 10.034 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 10.034 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.034 * [taylor]: Taking taylor expansion of 0 in phi1 10.034 * [backup-simplify]: Simplify 0 into 0 10.035 * [backup-simplify]: Simplify (+ 0) into 0 10.035 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.035 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.035 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.035 * [backup-simplify]: Simplify (+ 0 0) into 0 10.036 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.036 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.037 * [backup-simplify]: Simplify (- 0) into 0 10.037 * [backup-simplify]: Simplify (+ 0 0) into 0 10.037 * [taylor]: Taking taylor expansion of 0 in phi1 10.037 * [backup-simplify]: Simplify 0 into 0 10.037 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.037 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.037 * [taylor]: Taking taylor expansion of -1 in phi2 10.037 * [backup-simplify]: Simplify -1 into -1 10.037 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.037 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.037 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.037 * [backup-simplify]: Simplify -0.5 into -0.5 10.037 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.037 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.037 * [taylor]: Taking taylor expansion of phi1 in phi2 10.037 * [backup-simplify]: Simplify phi1 into phi1 10.037 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.037 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.037 * [taylor]: Taking taylor expansion of phi2 in phi2 10.037 * [backup-simplify]: Simplify 0 into 0 10.037 * [backup-simplify]: Simplify 1 into 1 10.038 * [backup-simplify]: Simplify (/ 1 1) into 1 10.038 * [backup-simplify]: Simplify (+ 0 1) into 1 10.038 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.038 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.038 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.038 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.038 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.038 * [backup-simplify]: Simplify -0.5 into -0.5 10.038 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.038 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.038 * [taylor]: Taking taylor expansion of phi1 in phi2 10.038 * [backup-simplify]: Simplify phi1 into phi1 10.038 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.039 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.039 * [taylor]: Taking taylor expansion of phi2 in phi2 10.039 * [backup-simplify]: Simplify 0 into 0 10.039 * [backup-simplify]: Simplify 1 into 1 10.039 * [backup-simplify]: Simplify (/ 1 1) into 1 10.039 * [backup-simplify]: Simplify (+ 0 1) into 1 10.039 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.039 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.040 * [backup-simplify]: Simplify (+ 0) into 0 10.040 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 10.040 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 10.040 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 10.040 * [backup-simplify]: Simplify (+ 0 0) into 0 10.041 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 10.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 10.042 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 10.042 * [backup-simplify]: Simplify (- 0) into 0 10.042 * [backup-simplify]: Simplify (+ 0 0) into 0 10.042 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.042 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 10.043 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 10.043 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.043 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 10.044 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 10.044 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 10.044 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.044 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.045 * [backup-simplify]: Simplify (+ 0 0) into 0 10.045 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.046 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 10.047 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 10.047 * [backup-simplify]: Simplify (- 0) into 0 10.047 * [backup-simplify]: Simplify (+ 0 0) into 0 10.048 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 10.048 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 10.050 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.050 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 10.050 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 10.050 * [backup-simplify]: Simplify (+ 0 0) into 0 10.050 * [backup-simplify]: Simplify (+ 0 0) into 0 10.051 * [backup-simplify]: Simplify (+ 0 0) into 0 10.051 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 10.051 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi1 phi2)) (/ 0 (* phi1 phi2))))) into 0 10.051 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi1 phi2)))) into 0 10.052 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.052 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.052 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.052 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.053 * [backup-simplify]: Simplify (+ 0 0) into 0 10.053 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.054 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.054 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.054 * [backup-simplify]: Simplify (- 0) into 0 10.055 * [backup-simplify]: Simplify (+ 0 0) into 0 10.055 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.055 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 10.056 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 10.056 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 10.057 * [backup-simplify]: Simplify (+ 0 0) into 0 10.057 * [backup-simplify]: Simplify (- 0) into 0 10.057 * [backup-simplify]: Simplify (+ 0 0) into 0 10.058 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.058 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 10.058 * [taylor]: Taking taylor expansion of 1/2 in lambda2 10.058 * [backup-simplify]: Simplify 1/2 into 1/2 10.058 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 10.058 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2 10.058 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2 10.058 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2 10.058 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2 10.058 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.058 * [backup-simplify]: Simplify 0 into 0 10.058 * [backup-simplify]: Simplify 1 into 1 10.058 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 10.058 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.058 * [backup-simplify]: Simplify phi2 into phi2 10.058 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.058 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0 10.058 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 10.059 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2) 10.059 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 10.059 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 10.059 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 10.059 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.059 * [backup-simplify]: Simplify 0 into 0 10.059 * [backup-simplify]: Simplify 1 into 1 10.059 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 10.059 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.059 * [backup-simplify]: Simplify phi1 into phi1 10.059 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 10.059 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 10.059 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 10.060 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 10.060 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 10.060 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2 10.060 * [taylor]: Taking taylor expansion of 2 in lambda2 10.060 * [backup-simplify]: Simplify 2 into 2 10.060 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2 10.060 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2 10.060 * [taylor]: Taking taylor expansion of lambda2 in lambda2 10.060 * [backup-simplify]: Simplify 0 into 0 10.060 * [backup-simplify]: Simplify 1 into 1 10.060 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 10.060 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.060 * [backup-simplify]: Simplify phi1 into phi1 10.060 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.060 * [backup-simplify]: Simplify phi2 into phi2 10.060 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 10.060 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0 10.060 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 10.060 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2) 10.060 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 10.060 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 10.060 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 10.060 * [taylor]: Taking taylor expansion of -0.5 in lambda2 10.060 * [backup-simplify]: Simplify -0.5 into -0.5 10.060 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 10.060 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 10.060 * [taylor]: Taking taylor expansion of phi1 in lambda2 10.060 * [backup-simplify]: Simplify phi1 into phi1 10.060 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.060 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 10.060 * [taylor]: Taking taylor expansion of phi2 in lambda2 10.060 * [backup-simplify]: Simplify phi2 into phi2 10.061 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.061 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 10.061 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 10.061 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.061 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.061 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 10.061 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 10.061 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 10.061 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 10.062 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.062 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 10.062 * [backup-simplify]: Simplify (- 0) into 0 10.062 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.062 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.063 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.063 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 10.063 * [taylor]: Taking taylor expansion of 1/2 in phi1 10.063 * [backup-simplify]: Simplify 1/2 into 1/2 10.063 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 10.063 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 10.063 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 10.063 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 10.063 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 10.063 * [taylor]: Taking taylor expansion of phi2 in phi1 10.063 * [backup-simplify]: Simplify phi2 into phi2 10.063 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.063 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 10.063 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 10.063 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 10.063 * [taylor]: Taking taylor expansion of phi1 in phi1 10.063 * [backup-simplify]: Simplify 0 into 0 10.063 * [backup-simplify]: Simplify 1 into 1 10.063 * [backup-simplify]: Simplify (* 1 1) into 1 10.064 * [backup-simplify]: Simplify (/ 1 1) into 1 10.064 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 10.064 * [taylor]: Taking taylor expansion of 2 in phi1 10.064 * [backup-simplify]: Simplify 2 into 2 10.064 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 10.064 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 10.064 * [taylor]: Taking taylor expansion of phi1 in phi1 10.064 * [backup-simplify]: Simplify 0 into 0 10.064 * [backup-simplify]: Simplify 1 into 1 10.064 * [taylor]: Taking taylor expansion of phi2 in phi1 10.064 * [backup-simplify]: Simplify phi2 into phi2 10.064 * [backup-simplify]: Simplify (* 0 phi2) into 0 10.064 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 10.064 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.064 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.064 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.064 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.064 * [backup-simplify]: Simplify -0.5 into -0.5 10.064 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.064 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.064 * [taylor]: Taking taylor expansion of phi1 in phi1 10.064 * [backup-simplify]: Simplify 0 into 0 10.064 * [backup-simplify]: Simplify 1 into 1 10.064 * [backup-simplify]: Simplify (/ 1 1) into 1 10.065 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.065 * [taylor]: Taking taylor expansion of phi2 in phi1 10.065 * [backup-simplify]: Simplify phi2 into phi2 10.065 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.065 * [backup-simplify]: Simplify (+ 1 0) into 1 10.065 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.065 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.065 * [backup-simplify]: Simplify (+ 0 1) into 1 10.066 * [backup-simplify]: Simplify (+ 1 0) into 1 10.066 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.066 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.067 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.067 * [backup-simplify]: Simplify (+ 0 0) into 0 10.067 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 10.067 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 10.067 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 10.067 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 10.068 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 10.068 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 10.068 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 10.068 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.068 * [taylor]: Taking taylor expansion of phi2 in phi2 10.068 * [backup-simplify]: Simplify 0 into 0 10.068 * [backup-simplify]: Simplify 1 into 1 10.068 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.068 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.068 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.068 * [backup-simplify]: Simplify -0.5 into -0.5 10.068 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.068 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.068 * [taylor]: Taking taylor expansion of phi1 in phi2 10.068 * [backup-simplify]: Simplify phi1 into phi1 10.068 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.068 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.068 * [taylor]: Taking taylor expansion of phi2 in phi2 10.068 * [backup-simplify]: Simplify 0 into 0 10.068 * [backup-simplify]: Simplify 1 into 1 10.068 * [backup-simplify]: Simplify (/ 1 1) into 1 10.069 * [backup-simplify]: Simplify (+ 0 1) into 1 10.069 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.069 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.069 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.070 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.070 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.070 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.070 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.070 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.070 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 10.071 * [taylor]: Taking taylor expansion of 1/2 in phi1 10.071 * [backup-simplify]: Simplify 1/2 into 1/2 10.071 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 10.071 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 10.071 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 10.071 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 10.071 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 10.071 * [taylor]: Taking taylor expansion of phi2 in phi1 10.071 * [backup-simplify]: Simplify phi2 into phi2 10.071 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 10.071 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 10.071 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 10.071 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 10.071 * [taylor]: Taking taylor expansion of phi1 in phi1 10.071 * [backup-simplify]: Simplify 0 into 0 10.071 * [backup-simplify]: Simplify 1 into 1 10.071 * [backup-simplify]: Simplify (* 1 1) into 1 10.071 * [backup-simplify]: Simplify (/ 1 1) into 1 10.071 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 10.071 * [taylor]: Taking taylor expansion of 2 in phi1 10.071 * [backup-simplify]: Simplify 2 into 2 10.071 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 10.071 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 10.071 * [taylor]: Taking taylor expansion of phi1 in phi1 10.071 * [backup-simplify]: Simplify 0 into 0 10.071 * [backup-simplify]: Simplify 1 into 1 10.072 * [taylor]: Taking taylor expansion of phi2 in phi1 10.072 * [backup-simplify]: Simplify phi2 into phi2 10.072 * [backup-simplify]: Simplify (* 0 phi2) into 0 10.072 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 10.072 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.072 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.072 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.072 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.072 * [backup-simplify]: Simplify -0.5 into -0.5 10.072 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.072 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.072 * [taylor]: Taking taylor expansion of phi1 in phi1 10.072 * [backup-simplify]: Simplify 0 into 0 10.072 * [backup-simplify]: Simplify 1 into 1 10.072 * [backup-simplify]: Simplify (/ 1 1) into 1 10.072 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.072 * [taylor]: Taking taylor expansion of phi2 in phi1 10.072 * [backup-simplify]: Simplify phi2 into phi2 10.072 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.073 * [backup-simplify]: Simplify (+ 1 0) into 1 10.073 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.073 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.073 * [backup-simplify]: Simplify (+ 0 1) into 1 10.074 * [backup-simplify]: Simplify (+ 1 0) into 1 10.074 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.074 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 10.075 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 10.075 * [backup-simplify]: Simplify (+ 0 0) into 0 10.075 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 10.075 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 10.075 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 10.076 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 10.076 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 10.076 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 10.076 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 10.077 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 10.077 * [taylor]: Taking taylor expansion of phi2 in phi2 10.077 * [backup-simplify]: Simplify 0 into 0 10.077 * [backup-simplify]: Simplify 1 into 1 10.077 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.077 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.077 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.077 * [backup-simplify]: Simplify -0.5 into -0.5 10.077 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.077 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.077 * [taylor]: Taking taylor expansion of phi1 in phi2 10.077 * [backup-simplify]: Simplify phi1 into phi1 10.077 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.077 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.077 * [taylor]: Taking taylor expansion of phi2 in phi2 10.077 * [backup-simplify]: Simplify 0 into 0 10.077 * [backup-simplify]: Simplify 1 into 1 10.077 * [backup-simplify]: Simplify (/ 1 1) into 1 10.078 * [backup-simplify]: Simplify (+ 0 1) into 1 10.078 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.079 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.079 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.079 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.080 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.080 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.080 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 10.081 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.082 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.082 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.082 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.083 * [backup-simplify]: Simplify (+ 0 0) into 0 10.084 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.085 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.085 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.086 * [backup-simplify]: Simplify (- 0) into 0 10.086 * [backup-simplify]: Simplify (+ 0 0) into 0 10.087 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 10.088 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 10.088 * [taylor]: Taking taylor expansion of 0 in phi1 10.088 * [backup-simplify]: Simplify 0 into 0 10.088 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 10.089 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 10.089 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 10.089 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 10.089 * [backup-simplify]: Simplify (+ 0 0) into 0 10.090 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 10.090 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.091 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 10.091 * [backup-simplify]: Simplify (- 0) into 0 10.091 * [backup-simplify]: Simplify (+ 0 0) into 0 10.091 * [taylor]: Taking taylor expansion of 0 in phi1 10.091 * [backup-simplify]: Simplify 0 into 0 10.091 * [taylor]: Taking taylor expansion of 0 in phi2 10.091 * [backup-simplify]: Simplify 0 into 0 10.091 * [taylor]: Taking taylor expansion of 0 in phi2 10.091 * [backup-simplify]: Simplify 0 into 0 10.092 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 10.092 * [taylor]: Taking taylor expansion of 0 in phi2 10.092 * [backup-simplify]: Simplify 0 into 0 10.092 * [taylor]: Taking taylor expansion of 0 in phi2 10.092 * [backup-simplify]: Simplify 0 into 0 10.092 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.092 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 10.093 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1)))) (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1)))))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2))))))) into (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))))) 10.093 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2 2 1) 10.093 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi1 phi2))) 10.093 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi1 phi2) around 0 10.093 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 10.093 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 10.093 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.093 * [backup-simplify]: Simplify 0.5 into 0.5 10.093 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 10.093 * [taylor]: Taking taylor expansion of phi1 in phi2 10.093 * [backup-simplify]: Simplify phi1 into phi1 10.094 * [taylor]: Taking taylor expansion of phi2 in phi2 10.094 * [backup-simplify]: Simplify 0 into 0 10.094 * [backup-simplify]: Simplify 1 into 1 10.094 * [backup-simplify]: Simplify (+ phi1 0) into phi1 10.094 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.094 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.094 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.094 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 10.094 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 10.094 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.094 * [backup-simplify]: Simplify 0.5 into 0.5 10.094 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 10.094 * [taylor]: Taking taylor expansion of phi1 in phi1 10.094 * [backup-simplify]: Simplify 0 into 0 10.094 * [backup-simplify]: Simplify 1 into 1 10.094 * [taylor]: Taking taylor expansion of phi2 in phi1 10.094 * [backup-simplify]: Simplify phi2 into phi2 10.094 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 10.094 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.094 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.094 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.094 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 10.094 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 10.094 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.094 * [backup-simplify]: Simplify 0.5 into 0.5 10.094 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 10.094 * [taylor]: Taking taylor expansion of phi1 in phi1 10.094 * [backup-simplify]: Simplify 0 into 0 10.094 * [backup-simplify]: Simplify 1 into 1 10.094 * [taylor]: Taking taylor expansion of phi2 in phi1 10.094 * [backup-simplify]: Simplify phi2 into phi2 10.094 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 10.094 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.094 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.094 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.094 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 10.094 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 10.095 * [backup-simplify]: Simplify (- 0) into 0 10.095 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 10.095 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 10.095 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 10.095 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.095 * [backup-simplify]: Simplify 0.5 into 0.5 10.095 * [taylor]: Taking taylor expansion of phi2 in phi2 10.095 * [backup-simplify]: Simplify 0 into 0 10.095 * [backup-simplify]: Simplify 1 into 1 10.095 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.096 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.096 * [backup-simplify]: Simplify 1 into 1 10.096 * [backup-simplify]: Simplify (+ 0) into 0 10.097 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 10.097 * [backup-simplify]: Simplify (+ 1 0) into 1 10.097 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 10.099 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.099 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 10.099 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 10.099 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 10.099 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 10.099 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 10.099 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.099 * [backup-simplify]: Simplify 0.5 into 0.5 10.099 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 10.099 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 10.099 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.099 * [backup-simplify]: Simplify 0.5 into 0.5 10.099 * [taylor]: Taking taylor expansion of phi2 in phi2 10.099 * [backup-simplify]: Simplify 0 into 0 10.099 * [backup-simplify]: Simplify 1 into 1 10.100 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.101 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.101 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.101 * [backup-simplify]: Simplify (- 0) into 0 10.101 * [backup-simplify]: Simplify 0 into 0 10.101 * [backup-simplify]: Simplify (+ 0) into 0 10.101 * [backup-simplify]: Simplify 0 into 0 10.103 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 10.104 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 10.104 * [backup-simplify]: Simplify (+ 0 0) into 0 10.104 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 10.105 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.105 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 10.106 * [backup-simplify]: Simplify (- 0) into 0 10.106 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 10.106 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 10.106 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 10.106 * [taylor]: Taking taylor expansion of 0.125 in phi2 10.106 * [backup-simplify]: Simplify 0.125 into 0.125 10.106 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 10.106 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 10.106 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.106 * [backup-simplify]: Simplify 0.5 into 0.5 10.106 * [taylor]: Taking taylor expansion of phi2 in phi2 10.106 * [backup-simplify]: Simplify 0 into 0 10.106 * [backup-simplify]: Simplify 1 into 1 10.106 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.107 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.107 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 10.108 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 10.108 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 10.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.110 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 10.110 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 10.112 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 10.113 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) 10.113 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.113 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 10.113 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.113 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.113 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.113 * [backup-simplify]: Simplify 0.5 into 0.5 10.113 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.113 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.113 * [taylor]: Taking taylor expansion of phi1 in phi2 10.113 * [backup-simplify]: Simplify phi1 into phi1 10.113 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.113 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.113 * [taylor]: Taking taylor expansion of phi2 in phi2 10.113 * [backup-simplify]: Simplify 0 into 0 10.113 * [backup-simplify]: Simplify 1 into 1 10.113 * [backup-simplify]: Simplify (/ 1 1) into 1 10.114 * [backup-simplify]: Simplify (+ 0 1) into 1 10.114 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.114 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.114 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.114 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.114 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.114 * [backup-simplify]: Simplify 0.5 into 0.5 10.114 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.114 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.114 * [taylor]: Taking taylor expansion of phi1 in phi1 10.114 * [backup-simplify]: Simplify 0 into 0 10.114 * [backup-simplify]: Simplify 1 into 1 10.114 * [backup-simplify]: Simplify (/ 1 1) into 1 10.114 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.114 * [taylor]: Taking taylor expansion of phi2 in phi1 10.114 * [backup-simplify]: Simplify phi2 into phi2 10.114 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.115 * [backup-simplify]: Simplify (+ 1 0) into 1 10.115 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.115 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.115 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.115 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.115 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.115 * [backup-simplify]: Simplify 0.5 into 0.5 10.115 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.115 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.115 * [taylor]: Taking taylor expansion of phi1 in phi1 10.115 * [backup-simplify]: Simplify 0 into 0 10.115 * [backup-simplify]: Simplify 1 into 1 10.116 * [backup-simplify]: Simplify (/ 1 1) into 1 10.116 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.116 * [taylor]: Taking taylor expansion of phi2 in phi1 10.116 * [backup-simplify]: Simplify phi2 into phi2 10.116 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.116 * [backup-simplify]: Simplify (+ 1 0) into 1 10.117 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.117 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.117 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.117 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.117 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.117 * [backup-simplify]: Simplify 0.5 into 0.5 10.117 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.117 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.117 * [taylor]: Taking taylor expansion of phi1 in phi2 10.117 * [backup-simplify]: Simplify phi1 into phi1 10.118 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.118 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.118 * [taylor]: Taking taylor expansion of phi2 in phi2 10.118 * [backup-simplify]: Simplify 0 into 0 10.118 * [backup-simplify]: Simplify 1 into 1 10.118 * [backup-simplify]: Simplify (/ 1 1) into 1 10.118 * [backup-simplify]: Simplify (+ 0 1) into 1 10.119 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.119 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.119 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.119 * [taylor]: Taking taylor expansion of 0 in phi2 10.119 * [backup-simplify]: Simplify 0 into 0 10.119 * [backup-simplify]: Simplify 0 into 0 10.120 * [backup-simplify]: Simplify 0 into 0 10.120 * [taylor]: Taking taylor expansion of 0 in phi2 10.120 * [backup-simplify]: Simplify 0 into 0 10.120 * [backup-simplify]: Simplify 0 into 0 10.120 * [backup-simplify]: Simplify 0 into 0 10.120 * [backup-simplify]: Simplify 0 into 0 10.120 * [taylor]: Taking taylor expansion of 0 in phi2 10.120 * [backup-simplify]: Simplify 0 into 0 10.120 * [backup-simplify]: Simplify 0 into 0 10.120 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2))) 10.120 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.120 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 10.120 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.120 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.121 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.121 * [backup-simplify]: Simplify -0.5 into -0.5 10.121 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.121 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.121 * [taylor]: Taking taylor expansion of phi1 in phi2 10.121 * [backup-simplify]: Simplify phi1 into phi1 10.121 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.121 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.121 * [taylor]: Taking taylor expansion of phi2 in phi2 10.121 * [backup-simplify]: Simplify 0 into 0 10.121 * [backup-simplify]: Simplify 1 into 1 10.121 * [backup-simplify]: Simplify (/ 1 1) into 1 10.122 * [backup-simplify]: Simplify (+ 0 1) into 1 10.122 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.122 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.122 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.122 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.122 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.122 * [backup-simplify]: Simplify -0.5 into -0.5 10.122 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.122 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.122 * [taylor]: Taking taylor expansion of phi1 in phi1 10.122 * [backup-simplify]: Simplify 0 into 0 10.122 * [backup-simplify]: Simplify 1 into 1 10.123 * [backup-simplify]: Simplify (/ 1 1) into 1 10.123 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.123 * [taylor]: Taking taylor expansion of phi2 in phi1 10.123 * [backup-simplify]: Simplify phi2 into phi2 10.123 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.123 * [backup-simplify]: Simplify (+ 1 0) into 1 10.124 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.124 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.124 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.124 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.124 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.124 * [backup-simplify]: Simplify -0.5 into -0.5 10.124 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.124 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.124 * [taylor]: Taking taylor expansion of phi1 in phi1 10.124 * [backup-simplify]: Simplify 0 into 0 10.124 * [backup-simplify]: Simplify 1 into 1 10.125 * [backup-simplify]: Simplify (/ 1 1) into 1 10.125 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.125 * [taylor]: Taking taylor expansion of phi2 in phi1 10.125 * [backup-simplify]: Simplify phi2 into phi2 10.125 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.125 * [backup-simplify]: Simplify (+ 1 0) into 1 10.126 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.126 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.126 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.126 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.126 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.126 * [backup-simplify]: Simplify -0.5 into -0.5 10.126 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.126 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.126 * [taylor]: Taking taylor expansion of phi1 in phi2 10.126 * [backup-simplify]: Simplify phi1 into phi1 10.126 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.126 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.126 * [taylor]: Taking taylor expansion of phi2 in phi2 10.126 * [backup-simplify]: Simplify 0 into 0 10.126 * [backup-simplify]: Simplify 1 into 1 10.127 * [backup-simplify]: Simplify (/ 1 1) into 1 10.127 * [backup-simplify]: Simplify (+ 0 1) into 1 10.128 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.128 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.128 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.128 * [taylor]: Taking taylor expansion of 0 in phi2 10.128 * [backup-simplify]: Simplify 0 into 0 10.128 * [backup-simplify]: Simplify 0 into 0 10.128 * [backup-simplify]: Simplify 0 into 0 10.128 * [taylor]: Taking taylor expansion of 0 in phi2 10.128 * [backup-simplify]: Simplify 0 into 0 10.128 * [backup-simplify]: Simplify 0 into 0 10.128 * [backup-simplify]: Simplify 0 into 0 10.128 * [backup-simplify]: Simplify 0 into 0 10.128 * [taylor]: Taking taylor expansion of 0 in phi2 10.128 * [backup-simplify]: Simplify 0 into 0 10.128 * [backup-simplify]: Simplify 0 into 0 10.129 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2))) 10.129 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 2 2 1 2 1) 10.129 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi1 phi2))) 10.129 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi1 phi2) around 0 10.129 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 10.129 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 10.129 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.129 * [backup-simplify]: Simplify 0.5 into 0.5 10.129 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 10.129 * [taylor]: Taking taylor expansion of phi1 in phi2 10.129 * [backup-simplify]: Simplify phi1 into phi1 10.129 * [taylor]: Taking taylor expansion of phi2 in phi2 10.129 * [backup-simplify]: Simplify 0 into 0 10.129 * [backup-simplify]: Simplify 1 into 1 10.129 * [backup-simplify]: Simplify (+ phi1 0) into phi1 10.129 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.129 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.130 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.130 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 10.130 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 10.130 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.130 * [backup-simplify]: Simplify 0.5 into 0.5 10.130 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 10.130 * [taylor]: Taking taylor expansion of phi1 in phi1 10.130 * [backup-simplify]: Simplify 0 into 0 10.130 * [backup-simplify]: Simplify 1 into 1 10.130 * [taylor]: Taking taylor expansion of phi2 in phi1 10.130 * [backup-simplify]: Simplify phi2 into phi2 10.130 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 10.130 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.130 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.130 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.130 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 10.130 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 10.130 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.130 * [backup-simplify]: Simplify 0.5 into 0.5 10.130 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 10.130 * [taylor]: Taking taylor expansion of phi1 in phi1 10.130 * [backup-simplify]: Simplify 0 into 0 10.130 * [backup-simplify]: Simplify 1 into 1 10.130 * [taylor]: Taking taylor expansion of phi2 in phi1 10.130 * [backup-simplify]: Simplify phi2 into phi2 10.130 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 10.130 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.131 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.131 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.131 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 10.131 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 10.131 * [backup-simplify]: Simplify (- 0) into 0 10.131 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 10.131 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 10.132 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 10.132 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.132 * [backup-simplify]: Simplify 0.5 into 0.5 10.132 * [taylor]: Taking taylor expansion of phi2 in phi2 10.132 * [backup-simplify]: Simplify 0 into 0 10.132 * [backup-simplify]: Simplify 1 into 1 10.132 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.134 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.134 * [backup-simplify]: Simplify 1 into 1 10.134 * [backup-simplify]: Simplify (+ 0) into 0 10.134 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 10.135 * [backup-simplify]: Simplify (+ 1 0) into 1 10.135 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 10.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.138 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 10.138 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 10.138 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 10.139 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 10.139 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 10.139 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.139 * [backup-simplify]: Simplify 0.5 into 0.5 10.139 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 10.139 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 10.139 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.139 * [backup-simplify]: Simplify 0.5 into 0.5 10.139 * [taylor]: Taking taylor expansion of phi2 in phi2 10.139 * [backup-simplify]: Simplify 0 into 0 10.139 * [backup-simplify]: Simplify 1 into 1 10.139 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.141 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.141 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.141 * [backup-simplify]: Simplify (- 0) into 0 10.141 * [backup-simplify]: Simplify 0 into 0 10.142 * [backup-simplify]: Simplify (+ 0) into 0 10.142 * [backup-simplify]: Simplify 0 into 0 10.144 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 10.146 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 10.146 * [backup-simplify]: Simplify (+ 0 0) into 0 10.147 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 10.148 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.148 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 10.149 * [backup-simplify]: Simplify (- 0) into 0 10.149 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 10.149 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 10.149 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 10.149 * [taylor]: Taking taylor expansion of 0.125 in phi2 10.149 * [backup-simplify]: Simplify 0.125 into 0.125 10.149 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 10.149 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 10.149 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.149 * [backup-simplify]: Simplify 0.5 into 0.5 10.149 * [taylor]: Taking taylor expansion of phi2 in phi2 10.149 * [backup-simplify]: Simplify 0 into 0 10.149 * [backup-simplify]: Simplify 1 into 1 10.150 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.151 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.151 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 10.152 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 10.152 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 10.155 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.156 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 10.156 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 10.157 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 10.158 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) 10.158 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.158 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 10.158 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.158 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.158 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.158 * [backup-simplify]: Simplify 0.5 into 0.5 10.158 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.158 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.158 * [taylor]: Taking taylor expansion of phi1 in phi2 10.158 * [backup-simplify]: Simplify phi1 into phi1 10.158 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.158 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.158 * [taylor]: Taking taylor expansion of phi2 in phi2 10.158 * [backup-simplify]: Simplify 0 into 0 10.158 * [backup-simplify]: Simplify 1 into 1 10.159 * [backup-simplify]: Simplify (/ 1 1) into 1 10.159 * [backup-simplify]: Simplify (+ 0 1) into 1 10.160 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.160 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.160 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.160 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.160 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.160 * [backup-simplify]: Simplify 0.5 into 0.5 10.160 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.160 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.160 * [taylor]: Taking taylor expansion of phi1 in phi1 10.160 * [backup-simplify]: Simplify 0 into 0 10.160 * [backup-simplify]: Simplify 1 into 1 10.160 * [backup-simplify]: Simplify (/ 1 1) into 1 10.160 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.160 * [taylor]: Taking taylor expansion of phi2 in phi1 10.161 * [backup-simplify]: Simplify phi2 into phi2 10.161 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.161 * [backup-simplify]: Simplify (+ 1 0) into 1 10.161 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.162 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.162 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.162 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.162 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.162 * [backup-simplify]: Simplify 0.5 into 0.5 10.162 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.162 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.162 * [taylor]: Taking taylor expansion of phi1 in phi1 10.162 * [backup-simplify]: Simplify 0 into 0 10.162 * [backup-simplify]: Simplify 1 into 1 10.162 * [backup-simplify]: Simplify (/ 1 1) into 1 10.162 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.162 * [taylor]: Taking taylor expansion of phi2 in phi1 10.162 * [backup-simplify]: Simplify phi2 into phi2 10.162 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.163 * [backup-simplify]: Simplify (+ 1 0) into 1 10.163 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.163 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.164 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.164 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.164 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.164 * [backup-simplify]: Simplify 0.5 into 0.5 10.164 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.164 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.164 * [taylor]: Taking taylor expansion of phi1 in phi2 10.164 * [backup-simplify]: Simplify phi1 into phi1 10.164 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.164 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.164 * [taylor]: Taking taylor expansion of phi2 in phi2 10.164 * [backup-simplify]: Simplify 0 into 0 10.164 * [backup-simplify]: Simplify 1 into 1 10.164 * [backup-simplify]: Simplify (/ 1 1) into 1 10.165 * [backup-simplify]: Simplify (+ 0 1) into 1 10.165 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.165 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.166 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.166 * [taylor]: Taking taylor expansion of 0 in phi2 10.166 * [backup-simplify]: Simplify 0 into 0 10.166 * [backup-simplify]: Simplify 0 into 0 10.166 * [backup-simplify]: Simplify 0 into 0 10.166 * [taylor]: Taking taylor expansion of 0 in phi2 10.166 * [backup-simplify]: Simplify 0 into 0 10.166 * [backup-simplify]: Simplify 0 into 0 10.166 * [backup-simplify]: Simplify 0 into 0 10.166 * [backup-simplify]: Simplify 0 into 0 10.166 * [taylor]: Taking taylor expansion of 0 in phi2 10.166 * [backup-simplify]: Simplify 0 into 0 10.166 * [backup-simplify]: Simplify 0 into 0 10.166 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2))) 10.166 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.166 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 10.166 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.167 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.167 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.167 * [backup-simplify]: Simplify -0.5 into -0.5 10.167 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.167 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.167 * [taylor]: Taking taylor expansion of phi1 in phi2 10.167 * [backup-simplify]: Simplify phi1 into phi1 10.167 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.167 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.167 * [taylor]: Taking taylor expansion of phi2 in phi2 10.167 * [backup-simplify]: Simplify 0 into 0 10.167 * [backup-simplify]: Simplify 1 into 1 10.167 * [backup-simplify]: Simplify (/ 1 1) into 1 10.168 * [backup-simplify]: Simplify (+ 0 1) into 1 10.168 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.168 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.168 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.168 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.168 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.168 * [backup-simplify]: Simplify -0.5 into -0.5 10.169 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.169 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.169 * [taylor]: Taking taylor expansion of phi1 in phi1 10.169 * [backup-simplify]: Simplify 0 into 0 10.169 * [backup-simplify]: Simplify 1 into 1 10.169 * [backup-simplify]: Simplify (/ 1 1) into 1 10.169 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.169 * [taylor]: Taking taylor expansion of phi2 in phi1 10.169 * [backup-simplify]: Simplify phi2 into phi2 10.169 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.170 * [backup-simplify]: Simplify (+ 1 0) into 1 10.170 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.170 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.171 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.171 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.171 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.171 * [backup-simplify]: Simplify -0.5 into -0.5 10.171 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.171 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.171 * [taylor]: Taking taylor expansion of phi1 in phi1 10.171 * [backup-simplify]: Simplify 0 into 0 10.171 * [backup-simplify]: Simplify 1 into 1 10.171 * [backup-simplify]: Simplify (/ 1 1) into 1 10.171 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.171 * [taylor]: Taking taylor expansion of phi2 in phi1 10.171 * [backup-simplify]: Simplify phi2 into phi2 10.171 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.172 * [backup-simplify]: Simplify (+ 1 0) into 1 10.172 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.172 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.172 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.172 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.172 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.172 * [backup-simplify]: Simplify -0.5 into -0.5 10.172 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.173 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.173 * [taylor]: Taking taylor expansion of phi1 in phi2 10.173 * [backup-simplify]: Simplify phi1 into phi1 10.173 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.173 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.173 * [taylor]: Taking taylor expansion of phi2 in phi2 10.173 * [backup-simplify]: Simplify 0 into 0 10.173 * [backup-simplify]: Simplify 1 into 1 10.173 * [backup-simplify]: Simplify (/ 1 1) into 1 10.174 * [backup-simplify]: Simplify (+ 0 1) into 1 10.174 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.174 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.174 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.174 * [taylor]: Taking taylor expansion of 0 in phi2 10.174 * [backup-simplify]: Simplify 0 into 0 10.174 * [backup-simplify]: Simplify 0 into 0 10.175 * [backup-simplify]: Simplify 0 into 0 10.175 * [taylor]: Taking taylor expansion of 0 in phi2 10.175 * [backup-simplify]: Simplify 0 into 0 10.175 * [backup-simplify]: Simplify 0 into 0 10.175 * [backup-simplify]: Simplify 0 into 0 10.175 * [backup-simplify]: Simplify 0 into 0 10.175 * [taylor]: Taking taylor expansion of 0 in phi2 10.175 * [backup-simplify]: Simplify 0 into 0 10.175 * [backup-simplify]: Simplify 0 into 0 10.175 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2))) 10.175 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1 2 2 1 1 1) 10.175 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi1 phi2))) 10.175 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi1 phi2) around 0 10.175 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 10.175 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 10.175 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.175 * [backup-simplify]: Simplify 0.5 into 0.5 10.175 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 10.176 * [taylor]: Taking taylor expansion of phi1 in phi2 10.176 * [backup-simplify]: Simplify phi1 into phi1 10.176 * [taylor]: Taking taylor expansion of phi2 in phi2 10.176 * [backup-simplify]: Simplify 0 into 0 10.176 * [backup-simplify]: Simplify 1 into 1 10.176 * [backup-simplify]: Simplify (+ phi1 0) into phi1 10.176 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 10.176 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 10.176 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 10.176 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 10.176 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 10.176 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.176 * [backup-simplify]: Simplify 0.5 into 0.5 10.176 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 10.176 * [taylor]: Taking taylor expansion of phi1 in phi1 10.176 * [backup-simplify]: Simplify 0 into 0 10.176 * [backup-simplify]: Simplify 1 into 1 10.176 * [taylor]: Taking taylor expansion of phi2 in phi1 10.176 * [backup-simplify]: Simplify phi2 into phi2 10.176 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 10.176 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.176 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.176 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.176 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 10.176 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 10.177 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.177 * [backup-simplify]: Simplify 0.5 into 0.5 10.177 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 10.177 * [taylor]: Taking taylor expansion of phi1 in phi1 10.177 * [backup-simplify]: Simplify 0 into 0 10.177 * [backup-simplify]: Simplify 1 into 1 10.177 * [taylor]: Taking taylor expansion of phi2 in phi1 10.177 * [backup-simplify]: Simplify phi2 into phi2 10.177 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 10.177 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 10.177 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 10.177 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 10.177 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 10.177 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 10.178 * [backup-simplify]: Simplify (- 0) into 0 10.178 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 10.178 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 10.178 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 10.178 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.178 * [backup-simplify]: Simplify 0.5 into 0.5 10.178 * [taylor]: Taking taylor expansion of phi2 in phi2 10.178 * [backup-simplify]: Simplify 0 into 0 10.178 * [backup-simplify]: Simplify 1 into 1 10.178 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.179 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.180 * [backup-simplify]: Simplify 1 into 1 10.180 * [backup-simplify]: Simplify (+ 0) into 0 10.180 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 10.180 * [backup-simplify]: Simplify (+ 1 0) into 1 10.181 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 10.182 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.182 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 10.182 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 10.183 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 10.183 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 10.183 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 10.183 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.183 * [backup-simplify]: Simplify 0.5 into 0.5 10.183 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 10.183 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 10.183 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.183 * [backup-simplify]: Simplify 0.5 into 0.5 10.183 * [taylor]: Taking taylor expansion of phi2 in phi2 10.183 * [backup-simplify]: Simplify 0 into 0 10.183 * [backup-simplify]: Simplify 1 into 1 10.183 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.184 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.184 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.184 * [backup-simplify]: Simplify (- 0) into 0 10.184 * [backup-simplify]: Simplify 0 into 0 10.185 * [backup-simplify]: Simplify (+ 0) into 0 10.185 * [backup-simplify]: Simplify 0 into 0 10.186 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 10.187 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 10.187 * [backup-simplify]: Simplify (+ 0 0) into 0 10.188 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 10.189 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 10.189 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 10.189 * [backup-simplify]: Simplify (- 0) into 0 10.189 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 10.189 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 10.189 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 10.189 * [taylor]: Taking taylor expansion of 0.125 in phi2 10.189 * [backup-simplify]: Simplify 0.125 into 0.125 10.189 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 10.189 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 10.189 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.190 * [backup-simplify]: Simplify 0.5 into 0.5 10.190 * [taylor]: Taking taylor expansion of phi2 in phi2 10.190 * [backup-simplify]: Simplify 0 into 0 10.190 * [backup-simplify]: Simplify 1 into 1 10.190 * [backup-simplify]: Simplify (* 0.5 0) into 0 10.191 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 10.191 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 10.192 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 10.192 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 10.193 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 10.194 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 10.194 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 10.195 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 10.195 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) 10.195 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.195 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 10.195 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.195 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.195 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.196 * [backup-simplify]: Simplify 0.5 into 0.5 10.196 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.196 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.196 * [taylor]: Taking taylor expansion of phi1 in phi2 10.196 * [backup-simplify]: Simplify phi1 into phi1 10.196 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.196 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.196 * [taylor]: Taking taylor expansion of phi2 in phi2 10.196 * [backup-simplify]: Simplify 0 into 0 10.196 * [backup-simplify]: Simplify 1 into 1 10.196 * [backup-simplify]: Simplify (/ 1 1) into 1 10.196 * [backup-simplify]: Simplify (+ 0 1) into 1 10.196 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.197 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.197 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.197 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.197 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.197 * [backup-simplify]: Simplify 0.5 into 0.5 10.197 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.197 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.197 * [taylor]: Taking taylor expansion of phi1 in phi1 10.197 * [backup-simplify]: Simplify 0 into 0 10.197 * [backup-simplify]: Simplify 1 into 1 10.197 * [backup-simplify]: Simplify (/ 1 1) into 1 10.197 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.197 * [taylor]: Taking taylor expansion of phi2 in phi1 10.197 * [backup-simplify]: Simplify phi2 into phi2 10.197 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.197 * [backup-simplify]: Simplify (+ 1 0) into 1 10.198 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.198 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.198 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.198 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.198 * [taylor]: Taking taylor expansion of 0.5 in phi1 10.198 * [backup-simplify]: Simplify 0.5 into 0.5 10.198 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.198 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.198 * [taylor]: Taking taylor expansion of phi1 in phi1 10.198 * [backup-simplify]: Simplify 0 into 0 10.198 * [backup-simplify]: Simplify 1 into 1 10.198 * [backup-simplify]: Simplify (/ 1 1) into 1 10.198 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.198 * [taylor]: Taking taylor expansion of phi2 in phi1 10.198 * [backup-simplify]: Simplify phi2 into phi2 10.198 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.198 * [backup-simplify]: Simplify (+ 1 0) into 1 10.199 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.199 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.199 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.199 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.199 * [taylor]: Taking taylor expansion of 0.5 in phi2 10.199 * [backup-simplify]: Simplify 0.5 into 0.5 10.199 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.199 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.199 * [taylor]: Taking taylor expansion of phi1 in phi2 10.199 * [backup-simplify]: Simplify phi1 into phi1 10.199 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.199 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.199 * [taylor]: Taking taylor expansion of phi2 in phi2 10.199 * [backup-simplify]: Simplify 0 into 0 10.199 * [backup-simplify]: Simplify 1 into 1 10.199 * [backup-simplify]: Simplify (/ 1 1) into 1 10.200 * [backup-simplify]: Simplify (+ 0 1) into 1 10.200 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 10.200 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.200 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.200 * [taylor]: Taking taylor expansion of 0 in phi2 10.200 * [backup-simplify]: Simplify 0 into 0 10.200 * [backup-simplify]: Simplify 0 into 0 10.200 * [backup-simplify]: Simplify 0 into 0 10.200 * [taylor]: Taking taylor expansion of 0 in phi2 10.200 * [backup-simplify]: Simplify 0 into 0 10.200 * [backup-simplify]: Simplify 0 into 0 10.200 * [backup-simplify]: Simplify 0 into 0 10.200 * [backup-simplify]: Simplify 0 into 0 10.200 * [taylor]: Taking taylor expansion of 0 in phi2 10.200 * [backup-simplify]: Simplify 0 into 0 10.200 * [backup-simplify]: Simplify 0 into 0 10.201 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2))) 10.201 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.201 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 10.201 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.201 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.201 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.201 * [backup-simplify]: Simplify -0.5 into -0.5 10.201 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.201 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.201 * [taylor]: Taking taylor expansion of phi1 in phi2 10.201 * [backup-simplify]: Simplify phi1 into phi1 10.201 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.201 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.201 * [taylor]: Taking taylor expansion of phi2 in phi2 10.201 * [backup-simplify]: Simplify 0 into 0 10.201 * [backup-simplify]: Simplify 1 into 1 10.201 * [backup-simplify]: Simplify (/ 1 1) into 1 10.201 * [backup-simplify]: Simplify (+ 0 1) into 1 10.202 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.202 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.202 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.202 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.202 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.202 * [backup-simplify]: Simplify -0.5 into -0.5 10.202 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.202 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.202 * [taylor]: Taking taylor expansion of phi1 in phi1 10.202 * [backup-simplify]: Simplify 0 into 0 10.202 * [backup-simplify]: Simplify 1 into 1 10.202 * [backup-simplify]: Simplify (/ 1 1) into 1 10.202 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.202 * [taylor]: Taking taylor expansion of phi2 in phi1 10.202 * [backup-simplify]: Simplify phi2 into phi2 10.202 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.203 * [backup-simplify]: Simplify (+ 1 0) into 1 10.203 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.203 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.203 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 10.203 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 10.203 * [taylor]: Taking taylor expansion of -0.5 in phi1 10.203 * [backup-simplify]: Simplify -0.5 into -0.5 10.203 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 10.203 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 10.203 * [taylor]: Taking taylor expansion of phi1 in phi1 10.203 * [backup-simplify]: Simplify 0 into 0 10.203 * [backup-simplify]: Simplify 1 into 1 10.203 * [backup-simplify]: Simplify (/ 1 1) into 1 10.203 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 10.203 * [taylor]: Taking taylor expansion of phi2 in phi1 10.203 * [backup-simplify]: Simplify phi2 into phi2 10.203 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 10.204 * [backup-simplify]: Simplify (+ 1 0) into 1 10.204 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.204 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.204 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 10.204 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 10.204 * [taylor]: Taking taylor expansion of -0.5 in phi2 10.204 * [backup-simplify]: Simplify -0.5 into -0.5 10.204 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 10.204 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 10.204 * [taylor]: Taking taylor expansion of phi1 in phi2 10.204 * [backup-simplify]: Simplify phi1 into phi1 10.204 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 10.204 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 10.204 * [taylor]: Taking taylor expansion of phi2 in phi2 10.204 * [backup-simplify]: Simplify 0 into 0 10.204 * [backup-simplify]: Simplify 1 into 1 10.205 * [backup-simplify]: Simplify (/ 1 1) into 1 10.205 * [backup-simplify]: Simplify (+ 0 1) into 1 10.205 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 10.205 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.205 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 10.205 * [taylor]: Taking taylor expansion of 0 in phi2 10.205 * [backup-simplify]: Simplify 0 into 0 10.205 * [backup-simplify]: Simplify 0 into 0 10.205 * [backup-simplify]: Simplify 0 into 0 10.205 * [taylor]: Taking taylor expansion of 0 in phi2 10.205 * [backup-simplify]: Simplify 0 into 0 10.205 * [backup-simplify]: Simplify 0 into 0 10.206 * [backup-simplify]: Simplify 0 into 0 10.206 * [backup-simplify]: Simplify 0 into 0 10.206 * [taylor]: Taking taylor expansion of 0 in phi2 10.206 * [backup-simplify]: Simplify 0 into 0 10.206 * [backup-simplify]: Simplify 0 into 0 10.206 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2))) 10.206 * * * [progress]: simplifying candidates 10.211 * [simplify]: Simplifying: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (* (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))))) (sqrt (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 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(* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (- phi2 phi1) (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2)))))) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))))) (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) 10.225 * * [simplify]: Extracting # 0 : cost 126 inf + 0 10.226 * * [simplify]: Extracting # 1 : cost 245 inf + 0 10.227 * * [simplify]: Extracting # 2 : cost 364 inf + 46 10.228 * * [simplify]: Extracting # 3 : cost 393 inf + 338 10.230 * * [simplify]: Extracting # 4 : cost 377 inf + 3969 10.235 * * [simplify]: Extracting # 5 : cost 342 inf + 18960 10.239 * * [simplify]: Extracting # 6 : cost 321 inf + 28267 10.247 * * [simplify]: Extracting # 7 : cost 281 inf + 50793 10.260 * * [simplify]: Extracting # 8 : cost 171 inf + 124842 10.287 * * [simplify]: Extracting # 9 : cost 75 inf + 244710 10.340 * * [simplify]: Extracting # 10 : cost 19 inf + 334420 10.409 * * [simplify]: Extracting # 11 : cost 2 inf + 364742 10.477 * * [simplify]: Extracting # 12 : cost 0 inf + 368294 10.518 * * [simplify]: iteration 0 : 424 enodes (cost 153398 ) 10.683 * * [simplify]: Extracting # 0 : cost 0 inf + 368294 10.793 * * [simplify]: Extracting # 1 : cost 236 inf + 245147 10.862 * * [simplify]: Extracting # 2 : cost 7 inf + 342149 10.953 * * [simplify]: Extracting # 3 : cost 0 inf + 299640 11.036 * * [simplify]: Extracting # 4 : cost 0 inf + 278312 11.115 * * [simplify]: Extracting # 5 : cost 0 inf + 275633 11.201 * * [simplify]: Extracting # 6 : cost 0 inf + 275593 11.308 * * [simplify]: iteration 1 : 1283 enodes (cost 117786 ) 11.607 * * [simplify]: Extracting # 0 : cost 0 inf + 275593 11.711 * * [simplify]: Extracting # 1 : cost 2220 inf + 274372 11.990 * * [simplify]: Extracting # 2 : cost 32 inf + 1197477 12.313 * * [simplify]: Extracting # 3 : cost 10 inf + 1200172 12.578 * * [simplify]: Extracting # 4 : cost 0 inf + 1203247 12.938 * * [simplify]: iteration done: 5001 enodes (cost 117626 ) 12.940 * [simplify]: Simplified to: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) 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(+ phi1 phi2) 2.0)))))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))))) (* (* (- phi1 phi2) (- phi1 phi2)) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (- (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) 1/2 (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (- phi2 phi1) (- (+ (+ (* (/ lambda2 (* lambda1 lambda1)) (/ (* phi1 phi2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1))) (* lambda2 (cos (* 0.5 (+ phi1 phi2)))))) (+ (+ (* (/ lambda2 (* lambda1 lambda1)) (/ (* phi1 phi2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1))) (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (- (- 1 (* 0.25 (* phi1 phi2))) (* (* phi1 phi1) 0.125)) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (- (- 1 (* 0.25 (* phi1 phi2))) (* (* phi1 phi1) 0.125)) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (- (- 1 (* 0.25 (* phi1 phi2))) (* (* phi1 phi1) 0.125)) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) 12.988 * * * [progress]: adding candidates to table 14.087 * * [progress]: iteration 3 / 4 14.087 * * * [progress]: picking best candidate 14.206 * * * * [pick]: Picked # 14.206 * * * [progress]: localizing error 14.321 * * * [progress]: generating rewritten candidates 14.321 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2) 14.980 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2 2 1) 14.991 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 2 2 1 2 1 2 1) 15.008 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1 2 2 1 2 1 1 2 1) 15.036 * * * [progress]: generating series expansions 15.036 * * * * [progress]: [ 1 / 4 ] generating series at (2 2) 15.037 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) 15.037 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in (lambda1 lambda2 phi1 phi2) around 0 15.037 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in phi2 15.037 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in phi2 15.037 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in phi2 15.037 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 15.037 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.037 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.038 * [backup-simplify]: Simplify lambda2 into lambda2 15.038 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 15.038 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 15.038 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 15.038 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.038 * [backup-simplify]: Simplify 0.5 into 0.5 15.038 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 15.038 * [taylor]: Taking taylor expansion of phi1 in phi2 15.038 * [backup-simplify]: Simplify phi1 into phi1 15.038 * [taylor]: Taking taylor expansion of phi2 in phi2 15.038 * [backup-simplify]: Simplify 0 into 0 15.038 * [backup-simplify]: Simplify 1 into 1 15.038 * [backup-simplify]: Simplify (+ phi1 0) into phi1 15.038 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.038 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.038 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.038 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.038 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.039 * [backup-simplify]: Simplify (- 0) into 0 15.039 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.039 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in phi2 15.039 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 15.039 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 15.039 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.039 * [backup-simplify]: Simplify lambda1 into lambda1 15.039 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 15.039 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 15.039 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 15.039 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.039 * [backup-simplify]: Simplify 0.5 into 0.5 15.039 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 15.039 * [taylor]: Taking taylor expansion of phi1 in phi2 15.039 * [backup-simplify]: Simplify phi1 into phi1 15.039 * [taylor]: Taking taylor expansion of phi2 in phi2 15.039 * [backup-simplify]: Simplify 0 into 0 15.039 * [backup-simplify]: Simplify 1 into 1 15.039 * [backup-simplify]: Simplify (+ phi1 0) into phi1 15.039 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.039 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.039 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.039 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.039 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.039 * [backup-simplify]: Simplify (- 0) into 0 15.039 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.039 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi2 15.039 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 15.039 * [taylor]: Taking taylor expansion of phi1 in phi2 15.040 * [backup-simplify]: Simplify phi1 into phi1 15.040 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 15.040 * [taylor]: Taking taylor expansion of phi2 in phi2 15.040 * [backup-simplify]: Simplify 0 into 0 15.040 * [backup-simplify]: Simplify 1 into 1 15.040 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in phi2 15.040 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi2 15.040 * [taylor]: Taking taylor expansion of 2 in phi2 15.040 * [backup-simplify]: Simplify 2 into 2 15.040 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 15.040 * [taylor]: Taking taylor expansion of phi1 in phi2 15.040 * [backup-simplify]: Simplify phi1 into phi1 15.040 * [taylor]: Taking taylor expansion of phi2 in phi2 15.040 * [backup-simplify]: Simplify 0 into 0 15.040 * [backup-simplify]: Simplify 1 into 1 15.040 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in phi2 15.040 * [taylor]: Taking taylor expansion of 2 in phi2 15.040 * [backup-simplify]: Simplify 2 into 2 15.040 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi2 15.040 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.040 * [backup-simplify]: Simplify lambda2 into lambda2 15.040 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 15.040 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.040 * [backup-simplify]: Simplify lambda1 into lambda1 15.040 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 15.040 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 15.040 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 15.040 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.040 * [backup-simplify]: Simplify 0.5 into 0.5 15.040 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 15.040 * [taylor]: Taking taylor expansion of phi1 in phi2 15.040 * [backup-simplify]: Simplify phi1 into phi1 15.040 * [taylor]: Taking taylor expansion of phi2 in phi2 15.040 * [backup-simplify]: Simplify 0 into 0 15.040 * [backup-simplify]: Simplify 1 into 1 15.040 * [backup-simplify]: Simplify (+ phi1 0) into phi1 15.040 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.040 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.040 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.040 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 15.040 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 15.041 * [backup-simplify]: Simplify (- 0) into 0 15.041 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 15.041 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.041 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 15.041 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) 15.041 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.041 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 15.041 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 15.041 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.041 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 15.042 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 15.042 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) 15.042 * [backup-simplify]: Simplify (* phi1 0) into 0 15.042 * [backup-simplify]: Simplify (* 2 0) into 0 15.043 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 15.043 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 15.043 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))) 15.043 * [backup-simplify]: Simplify (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) 15.043 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) 15.043 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) 15.044 * [backup-simplify]: Simplify (+ (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) 15.045 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) 15.045 * [backup-simplify]: Simplify (+ 0) into 0 15.046 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 15.046 * [backup-simplify]: Simplify (+ 0 1) into 1 15.046 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 15.050 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.050 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 15.050 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 15.050 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 15.051 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 15.051 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.051 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 15.051 * [backup-simplify]: Simplify (+ 0) into 0 15.052 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 15.052 * [backup-simplify]: Simplify (+ 0 1) into 1 15.052 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 15.054 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.054 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 15.054 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 15.054 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 15.054 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 15.054 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.055 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 15.055 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.055 * [backup-simplify]: Simplify (+ 0 0) into 0 15.056 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 0) into (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 15.057 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) into (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) 15.057 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 15.058 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 15.058 * [backup-simplify]: Simplify (+ 0) into 0 15.058 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 15.059 * [backup-simplify]: Simplify (+ 0 1) into 1 15.059 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 15.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.062 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 15.062 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 15.063 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 15.063 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 15.064 * [backup-simplify]: Simplify (+ (* lambda1 (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* lambda1 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* lambda1 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 15.065 * [backup-simplify]: Simplify (+ (* lambda2 (- (+ (* 0.5 (* lambda1 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* lambda1 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) 15.066 * [backup-simplify]: Simplify (+ (* 2 (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (* 0 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (- (+ (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))))) 15.067 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (+ (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1))))))))) into (- (* 2 phi1) (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) 15.068 * [backup-simplify]: Simplify (- (- (* 2 phi1) (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) into (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 2 phi1)) 15.072 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 2 phi1))) into (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) 15.076 * [backup-simplify]: Simplify (/ (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))) (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))))) 15.076 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in phi1 15.076 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in phi1 15.077 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in phi1 15.077 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 15.077 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.077 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.077 * [backup-simplify]: Simplify lambda2 into lambda2 15.077 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 15.077 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.077 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.077 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.077 * [backup-simplify]: Simplify 0.5 into 0.5 15.077 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.077 * [taylor]: Taking taylor expansion of phi1 in phi1 15.077 * [backup-simplify]: Simplify 0 into 0 15.077 * [backup-simplify]: Simplify 1 into 1 15.077 * [taylor]: Taking taylor expansion of phi2 in phi1 15.077 * [backup-simplify]: Simplify phi2 into phi2 15.077 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.077 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.077 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.077 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.077 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.077 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.078 * [backup-simplify]: Simplify (- 0) into 0 15.078 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.078 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in phi1 15.078 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 15.078 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.078 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.078 * [backup-simplify]: Simplify lambda1 into lambda1 15.078 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 15.078 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.078 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.078 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.078 * [backup-simplify]: Simplify 0.5 into 0.5 15.079 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.079 * [taylor]: Taking taylor expansion of phi1 in phi1 15.079 * [backup-simplify]: Simplify 0 into 0 15.079 * [backup-simplify]: Simplify 1 into 1 15.079 * [taylor]: Taking taylor expansion of phi2 in phi1 15.079 * [backup-simplify]: Simplify phi2 into phi2 15.079 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.079 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.079 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.079 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.079 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.079 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.080 * [backup-simplify]: Simplify (- 0) into 0 15.080 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.080 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 15.080 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.080 * [taylor]: Taking taylor expansion of phi1 in phi1 15.080 * [backup-simplify]: Simplify 0 into 0 15.080 * [backup-simplify]: Simplify 1 into 1 15.080 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.080 * [taylor]: Taking taylor expansion of phi2 in phi1 15.080 * [backup-simplify]: Simplify phi2 into phi2 15.080 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in phi1 15.080 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 15.080 * [taylor]: Taking taylor expansion of 2 in phi1 15.080 * [backup-simplify]: Simplify 2 into 2 15.080 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 15.080 * [taylor]: Taking taylor expansion of phi1 in phi1 15.080 * [backup-simplify]: Simplify 0 into 0 15.080 * [backup-simplify]: Simplify 1 into 1 15.080 * [taylor]: Taking taylor expansion of phi2 in phi1 15.080 * [backup-simplify]: Simplify phi2 into phi2 15.080 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in phi1 15.080 * [taylor]: Taking taylor expansion of 2 in phi1 15.080 * [backup-simplify]: Simplify 2 into 2 15.080 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 15.080 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.080 * [backup-simplify]: Simplify lambda2 into lambda2 15.080 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 15.080 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.080 * [backup-simplify]: Simplify lambda1 into lambda1 15.080 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 15.080 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.080 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.080 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.080 * [backup-simplify]: Simplify 0.5 into 0.5 15.081 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.081 * [taylor]: Taking taylor expansion of phi1 in phi1 15.081 * [backup-simplify]: Simplify 0 into 0 15.081 * [backup-simplify]: Simplify 1 into 1 15.081 * [taylor]: Taking taylor expansion of phi2 in phi1 15.081 * [backup-simplify]: Simplify phi2 into phi2 15.081 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.081 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.081 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.081 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.081 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.081 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.081 * [backup-simplify]: Simplify (- 0) into 0 15.082 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.082 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.082 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 15.082 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) 15.082 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.082 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 15.083 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) 15.083 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.083 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 15.083 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (pow phi2 2)) into (+ (pow phi2 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) 15.084 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) (+ (pow phi2 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)))) into (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) 15.084 * [backup-simplify]: Simplify (* 0 phi2) into 0 15.085 * [backup-simplify]: Simplify (* 2 0) into 0 15.085 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 15.085 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 phi2)) 2)) into (* lambda1 (pow (cos (* 0.5 phi2)) 2)) 15.085 * [backup-simplify]: Simplify (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))) into (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))) 15.086 * [backup-simplify]: Simplify (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) 15.086 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) 15.086 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) 15.088 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) 15.089 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) 15.090 * [backup-simplify]: Simplify (+ 0) into 0 15.091 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 15.091 * [backup-simplify]: Simplify (+ 1 0) into 1 15.092 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 15.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.095 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 15.095 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.095 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.096 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 15.096 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.096 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 15.097 * [backup-simplify]: Simplify (+ 0) into 0 15.097 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 15.098 * [backup-simplify]: Simplify (+ 1 0) into 1 15.098 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 15.101 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.101 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 15.101 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.101 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.102 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 15.102 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.102 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 15.103 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.103 * [backup-simplify]: Simplify (+ 0 0) into 0 15.103 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 0) into (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 15.104 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) into (- (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 15.105 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 15.105 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 15.106 * [backup-simplify]: Simplify (+ 0) into 0 15.106 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 15.107 * [backup-simplify]: Simplify (+ 1 0) into 1 15.107 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 15.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.110 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 15.110 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.110 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.111 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 15.111 * [backup-simplify]: Simplify (+ (* lambda1 (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 15.112 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 0 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) into (- (* 1.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 15.112 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (* 0 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 15.113 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) into (- (* 2 phi2) (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 15.113 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 2 phi2)) 15.115 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 2 phi2))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) 15.118 * [backup-simplify]: Simplify (/ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))))) 15.118 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda2 15.118 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda2 15.118 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda2 15.118 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 15.118 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.118 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.118 * [backup-simplify]: Simplify 0 into 0 15.118 * [backup-simplify]: Simplify 1 into 1 15.118 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 15.118 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 15.118 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 15.118 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.118 * [backup-simplify]: Simplify 0.5 into 0.5 15.118 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 15.118 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.118 * [backup-simplify]: Simplify phi1 into phi1 15.118 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.118 * [backup-simplify]: Simplify phi2 into phi2 15.118 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.118 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.118 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.119 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.119 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.119 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.119 * [backup-simplify]: Simplify (- 0) into 0 15.120 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.120 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 15.120 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 15.120 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 15.120 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.120 * [backup-simplify]: Simplify lambda1 into lambda1 15.120 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 15.120 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 15.120 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 15.120 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.120 * [backup-simplify]: Simplify 0.5 into 0.5 15.120 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 15.120 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.120 * [backup-simplify]: Simplify phi1 into phi1 15.120 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.120 * [backup-simplify]: Simplify phi2 into phi2 15.120 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.120 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.120 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.121 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.121 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.121 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.121 * [backup-simplify]: Simplify (- 0) into 0 15.121 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.121 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 15.121 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.121 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.121 * [backup-simplify]: Simplify phi1 into phi1 15.122 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.122 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.122 * [backup-simplify]: Simplify phi2 into phi2 15.122 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda2 15.122 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 15.122 * [taylor]: Taking taylor expansion of 2 in lambda2 15.122 * [backup-simplify]: Simplify 2 into 2 15.122 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 15.122 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.122 * [backup-simplify]: Simplify phi1 into phi1 15.122 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.122 * [backup-simplify]: Simplify phi2 into phi2 15.122 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 15.122 * [taylor]: Taking taylor expansion of 2 in lambda2 15.122 * [backup-simplify]: Simplify 2 into 2 15.122 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 15.122 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.122 * [backup-simplify]: Simplify 0 into 0 15.122 * [backup-simplify]: Simplify 1 into 1 15.122 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 15.122 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.122 * [backup-simplify]: Simplify lambda1 into lambda1 15.122 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 15.122 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 15.122 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 15.122 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.122 * [backup-simplify]: Simplify 0.5 into 0.5 15.122 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 15.122 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.122 * [backup-simplify]: Simplify phi1 into phi1 15.122 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.122 * [backup-simplify]: Simplify phi2 into phi2 15.122 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.122 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.123 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.123 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.123 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.123 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.123 * [backup-simplify]: Simplify (- 0) into 0 15.124 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.124 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.124 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.124 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 15.124 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.124 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.125 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 15.125 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) 15.126 * [backup-simplify]: Simplify (+ 0 (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) into (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) 15.126 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.126 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 15.127 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.127 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 15.127 * [backup-simplify]: Simplify (* 0 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 15.128 * [backup-simplify]: Simplify (* 2 0) into 0 15.128 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 15.128 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 15.129 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2))) 15.130 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))) 15.130 * [backup-simplify]: Simplify (+ 0) into 0 15.131 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 15.131 * [backup-simplify]: Simplify (+ 0 0) into 0 15.132 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 15.133 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.133 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 15.133 * [backup-simplify]: Simplify (- 0) into 0 15.134 * [backup-simplify]: Simplify (+ 0 0) into 0 15.134 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 15.134 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 15.134 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 15.135 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.135 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.135 * [backup-simplify]: Simplify (+ 0 0) into 0 15.135 * [backup-simplify]: Simplify (+ 0 0) into 0 15.136 * [backup-simplify]: Simplify (+ 0 0) into 0 15.136 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 15.136 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 15.137 * [backup-simplify]: Simplify (+ 0) into 0 15.137 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 15.138 * [backup-simplify]: Simplify (+ 0 0) into 0 15.138 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 15.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.139 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 15.140 * [backup-simplify]: Simplify (- 0) into 0 15.140 * [backup-simplify]: Simplify (+ 0 0) into 0 15.140 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 15.141 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 15.141 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 15.142 * [backup-simplify]: Simplify (+ (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 15.142 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 15.143 * [backup-simplify]: Simplify (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 15.143 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 15.145 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2))))))) 15.145 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda1 15.145 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda1 15.145 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda1 15.145 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 15.145 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.145 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.145 * [backup-simplify]: Simplify lambda2 into lambda2 15.145 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 15.145 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 15.145 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 15.145 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.145 * [backup-simplify]: Simplify 0.5 into 0.5 15.145 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 15.145 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.145 * [backup-simplify]: Simplify phi1 into phi1 15.145 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.145 * [backup-simplify]: Simplify phi2 into phi2 15.145 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.145 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.145 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.145 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.146 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.146 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.146 * [backup-simplify]: Simplify (- 0) into 0 15.146 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.146 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda1 15.146 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 15.146 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.146 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.147 * [backup-simplify]: Simplify 0 into 0 15.147 * [backup-simplify]: Simplify 1 into 1 15.147 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 15.147 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 15.147 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 15.147 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.147 * [backup-simplify]: Simplify 0.5 into 0.5 15.147 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 15.147 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.147 * [backup-simplify]: Simplify phi1 into phi1 15.147 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.147 * [backup-simplify]: Simplify phi2 into phi2 15.147 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.147 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.147 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.147 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.147 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.147 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.148 * [backup-simplify]: Simplify (- 0) into 0 15.148 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.148 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda1 15.148 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 15.148 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.148 * [backup-simplify]: Simplify phi1 into phi1 15.148 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 15.148 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.148 * [backup-simplify]: Simplify phi2 into phi2 15.148 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda1 15.148 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda1 15.148 * [taylor]: Taking taylor expansion of 2 in lambda1 15.148 * [backup-simplify]: Simplify 2 into 2 15.148 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 15.148 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.148 * [backup-simplify]: Simplify phi1 into phi1 15.148 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.149 * [backup-simplify]: Simplify phi2 into phi2 15.149 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda1 15.149 * [taylor]: Taking taylor expansion of 2 in lambda1 15.149 * [backup-simplify]: Simplify 2 into 2 15.149 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda1 15.149 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.149 * [backup-simplify]: Simplify lambda2 into lambda2 15.149 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 15.149 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.149 * [backup-simplify]: Simplify 0 into 0 15.149 * [backup-simplify]: Simplify 1 into 1 15.149 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 15.149 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 15.149 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 15.149 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.149 * [backup-simplify]: Simplify 0.5 into 0.5 15.149 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 15.149 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.149 * [backup-simplify]: Simplify phi1 into phi1 15.149 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.149 * [backup-simplify]: Simplify phi2 into phi2 15.149 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.149 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.149 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.149 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.150 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.150 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.150 * [backup-simplify]: Simplify (- 0) into 0 15.150 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.150 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.151 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.151 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 15.151 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.151 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.151 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 15.152 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 15.152 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 15.152 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.152 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 15.153 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.153 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 15.153 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.153 * [backup-simplify]: Simplify (* 2 0) into 0 15.154 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 15.154 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 15.155 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) 15.155 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) 15.156 * [backup-simplify]: Simplify (+ 0) into 0 15.156 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 15.156 * [backup-simplify]: Simplify (+ 0 0) into 0 15.157 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 15.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.157 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 15.158 * [backup-simplify]: Simplify (- 0) into 0 15.158 * [backup-simplify]: Simplify (+ 0 0) into 0 15.158 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 15.158 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.158 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 15.158 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.158 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.159 * [backup-simplify]: Simplify (+ 0 0) into 0 15.159 * [backup-simplify]: Simplify (+ 0 0) into 0 15.159 * [backup-simplify]: Simplify (+ 0 0) into 0 15.159 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 15.159 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 15.160 * [backup-simplify]: Simplify (+ 0) into 0 15.160 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 15.160 * [backup-simplify]: Simplify (+ 0 0) into 0 15.160 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 15.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.161 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 15.161 * [backup-simplify]: Simplify (- 0) into 0 15.162 * [backup-simplify]: Simplify (+ 0 0) into 0 15.162 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 15.162 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.163 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 15.163 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 15.163 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 15.164 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 15.164 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 15.165 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 15.165 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda1 15.165 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda1 15.165 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda1 15.165 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 15.165 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.165 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.165 * [backup-simplify]: Simplify lambda2 into lambda2 15.165 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 15.165 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 15.165 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 15.165 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.165 * [backup-simplify]: Simplify 0.5 into 0.5 15.165 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 15.165 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.165 * [backup-simplify]: Simplify phi1 into phi1 15.165 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.165 * [backup-simplify]: Simplify phi2 into phi2 15.165 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.165 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.165 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.165 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.165 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.165 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.166 * [backup-simplify]: Simplify (- 0) into 0 15.166 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.166 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda1 15.166 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 15.166 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.166 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.166 * [backup-simplify]: Simplify 0 into 0 15.166 * [backup-simplify]: Simplify 1 into 1 15.166 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 15.166 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 15.166 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 15.166 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.166 * [backup-simplify]: Simplify 0.5 into 0.5 15.166 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 15.166 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.166 * [backup-simplify]: Simplify phi1 into phi1 15.166 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.166 * [backup-simplify]: Simplify phi2 into phi2 15.166 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.166 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.166 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.166 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.166 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.166 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.166 * [backup-simplify]: Simplify (- 0) into 0 15.167 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.167 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda1 15.167 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 15.167 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.167 * [backup-simplify]: Simplify phi1 into phi1 15.167 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 15.167 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.167 * [backup-simplify]: Simplify phi2 into phi2 15.167 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda1 15.167 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda1 15.167 * [taylor]: Taking taylor expansion of 2 in lambda1 15.167 * [backup-simplify]: Simplify 2 into 2 15.167 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 15.167 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.167 * [backup-simplify]: Simplify phi1 into phi1 15.167 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.167 * [backup-simplify]: Simplify phi2 into phi2 15.167 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda1 15.167 * [taylor]: Taking taylor expansion of 2 in lambda1 15.167 * [backup-simplify]: Simplify 2 into 2 15.167 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda1 15.167 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.167 * [backup-simplify]: Simplify lambda2 into lambda2 15.167 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 15.167 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.167 * [backup-simplify]: Simplify 0 into 0 15.167 * [backup-simplify]: Simplify 1 into 1 15.167 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 15.167 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 15.167 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 15.167 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.167 * [backup-simplify]: Simplify 0.5 into 0.5 15.167 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 15.167 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.167 * [backup-simplify]: Simplify phi1 into phi1 15.167 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.167 * [backup-simplify]: Simplify phi2 into phi2 15.167 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.167 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.167 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.167 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.167 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.167 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.168 * [backup-simplify]: Simplify (- 0) into 0 15.168 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.168 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.168 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.168 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 15.168 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.168 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.168 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 15.169 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 15.169 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 15.169 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.169 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 15.169 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.169 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 15.169 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.170 * [backup-simplify]: Simplify (* 2 0) into 0 15.170 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 15.170 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 15.170 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) 15.171 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) 15.171 * [backup-simplify]: Simplify (+ 0) into 0 15.172 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 15.172 * [backup-simplify]: Simplify (+ 0 0) into 0 15.172 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 15.173 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.173 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 15.173 * [backup-simplify]: Simplify (- 0) into 0 15.174 * [backup-simplify]: Simplify (+ 0 0) into 0 15.174 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 15.174 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.174 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 15.174 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.174 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.174 * [backup-simplify]: Simplify (+ 0 0) into 0 15.175 * [backup-simplify]: Simplify (+ 0 0) into 0 15.175 * [backup-simplify]: Simplify (+ 0 0) into 0 15.175 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 15.176 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 15.176 * [backup-simplify]: Simplify (+ 0) into 0 15.177 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 15.177 * [backup-simplify]: Simplify (+ 0 0) into 0 15.177 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 15.178 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.179 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 15.179 * [backup-simplify]: Simplify (- 0) into 0 15.180 * [backup-simplify]: Simplify (+ 0 0) into 0 15.180 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 15.181 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.181 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 15.182 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 15.183 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 15.183 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 15.184 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 15.185 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 15.185 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 15.185 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 15.185 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 15.185 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.185 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.185 * [backup-simplify]: Simplify phi2 into phi2 15.185 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 15.185 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.185 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.186 * [backup-simplify]: Simplify phi1 into phi1 15.186 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 15.186 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.186 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.186 * [backup-simplify]: Simplify 0 into 0 15.186 * [backup-simplify]: Simplify 1 into 1 15.186 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 15.186 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 15.186 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 15.186 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.186 * [backup-simplify]: Simplify 0.5 into 0.5 15.186 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 15.186 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.186 * [backup-simplify]: Simplify phi1 into phi1 15.186 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.186 * [backup-simplify]: Simplify phi2 into phi2 15.186 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.186 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.186 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.186 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.186 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.187 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.187 * [backup-simplify]: Simplify (- 0) into 0 15.187 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.187 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 15.187 * [taylor]: Taking taylor expansion of 2 in lambda2 15.187 * [backup-simplify]: Simplify 2 into 2 15.187 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 15.187 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.187 * [backup-simplify]: Simplify phi1 into phi1 15.187 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.187 * [backup-simplify]: Simplify phi2 into phi2 15.188 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.188 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.188 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 15.188 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 15.188 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.188 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 15.188 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 15.189 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 15.189 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 15.189 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.189 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.190 * [backup-simplify]: Simplify (+ 0 0) into 0 15.190 * [backup-simplify]: Simplify (+ 0 0) into 0 15.190 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 15.193 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 15.193 * [backup-simplify]: Simplify (- 0) into 0 15.193 * [backup-simplify]: Simplify (+ 0 0) into 0 15.194 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0 15.194 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 15.194 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 15.194 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 15.194 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.194 * [taylor]: Taking taylor expansion of phi2 in phi1 15.194 * [backup-simplify]: Simplify phi2 into phi2 15.194 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.194 * [taylor]: Taking taylor expansion of phi1 in phi1 15.194 * [backup-simplify]: Simplify 0 into 0 15.194 * [backup-simplify]: Simplify 1 into 1 15.194 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 15.194 * [taylor]: Taking taylor expansion of 2 in phi1 15.194 * [backup-simplify]: Simplify 2 into 2 15.194 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 15.194 * [taylor]: Taking taylor expansion of phi1 in phi1 15.194 * [backup-simplify]: Simplify 0 into 0 15.194 * [backup-simplify]: Simplify 1 into 1 15.194 * [taylor]: Taking taylor expansion of phi2 in phi1 15.194 * [backup-simplify]: Simplify phi2 into phi2 15.195 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.195 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.195 * [backup-simplify]: Simplify (* 0 phi2) into 0 15.195 * [backup-simplify]: Simplify (* 2 0) into 0 15.196 * [backup-simplify]: Simplify (- 0) into 0 15.196 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.196 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 15.196 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.196 * [backup-simplify]: Simplify (+ 0 0) into 0 15.197 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 15.197 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 15.197 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 15.197 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 15.198 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 15.198 * [taylor]: Taking taylor expansion of phi2 in phi2 15.198 * [backup-simplify]: Simplify 0 into 0 15.198 * [backup-simplify]: Simplify 1 into 1 15.198 * [backup-simplify]: Simplify 0 into 0 15.198 * [taylor]: Taking taylor expansion of (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2 15.198 * [taylor]: Taking taylor expansion of -1 in lambda2 15.198 * [backup-simplify]: Simplify -1 into -1 15.198 * [taylor]: Taking taylor expansion of (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2 15.198 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 15.198 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.198 * [backup-simplify]: Simplify 0 into 0 15.198 * [backup-simplify]: Simplify 1 into 1 15.198 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 15.198 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 15.198 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 15.198 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.198 * [backup-simplify]: Simplify 0.5 into 0.5 15.198 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 15.198 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.198 * [backup-simplify]: Simplify phi1 into phi1 15.198 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.198 * [backup-simplify]: Simplify phi2 into phi2 15.198 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.198 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.199 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.199 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.199 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.199 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.199 * [backup-simplify]: Simplify (- 0) into 0 15.199 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.199 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 15.199 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 15.199 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 15.199 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 15.199 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.199 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.199 * [backup-simplify]: Simplify phi2 into phi2 15.199 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 15.199 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.199 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.199 * [backup-simplify]: Simplify phi1 into phi1 15.199 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 15.200 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.200 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.200 * [backup-simplify]: Simplify 0 into 0 15.200 * [backup-simplify]: Simplify 1 into 1 15.200 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 15.200 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 15.200 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 15.200 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.200 * [backup-simplify]: Simplify 0.5 into 0.5 15.200 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 15.200 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.200 * [backup-simplify]: Simplify phi1 into phi1 15.200 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.200 * [backup-simplify]: Simplify phi2 into phi2 15.200 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.200 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.200 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.200 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.200 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.200 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.200 * [backup-simplify]: Simplify (- 0) into 0 15.200 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.200 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 15.200 * [taylor]: Taking taylor expansion of 2 in lambda2 15.200 * [backup-simplify]: Simplify 2 into 2 15.200 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 15.200 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.201 * [backup-simplify]: Simplify phi1 into phi1 15.201 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.201 * [backup-simplify]: Simplify phi2 into phi2 15.201 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.201 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.201 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 15.201 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 15.201 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.201 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 15.201 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 15.201 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 15.201 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 15.202 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) 15.202 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.202 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.202 * [backup-simplify]: Simplify (+ 0 0) into 0 15.202 * [backup-simplify]: Simplify (+ 0 0) into 0 15.202 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 15.203 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 15.203 * [backup-simplify]: Simplify (- 0) into 0 15.203 * [backup-simplify]: Simplify (+ 0 0) into 0 15.204 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 15.204 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 15.204 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.204 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 15.205 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0 15.205 * [backup-simplify]: Simplify (* -1 0) into 0 15.205 * [taylor]: Taking taylor expansion of 0 in phi1 15.205 * [backup-simplify]: Simplify 0 into 0 15.205 * [taylor]: Taking taylor expansion of 0 in phi2 15.205 * [backup-simplify]: Simplify 0 into 0 15.205 * [backup-simplify]: Simplify 0 into 0 15.205 * [taylor]: Taking taylor expansion of 0 in phi1 15.205 * [backup-simplify]: Simplify 0 into 0 15.205 * [taylor]: Taking taylor expansion of 0 in phi2 15.205 * [backup-simplify]: Simplify 0 into 0 15.205 * [backup-simplify]: Simplify 0 into 0 15.205 * [taylor]: Taking taylor expansion of -1 in phi2 15.205 * [backup-simplify]: Simplify -1 into -1 15.205 * [backup-simplify]: Simplify -1 into -1 15.205 * [backup-simplify]: Simplify 1 into 1 15.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.206 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0 15.206 * [backup-simplify]: Simplify (+ 0 0) into 0 15.207 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0 15.207 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.208 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0 15.208 * [backup-simplify]: Simplify (- 0) into 0 15.208 * [backup-simplify]: Simplify (+ 0 0) into 0 15.209 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0 15.209 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 15.209 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into 0 15.210 * [backup-simplify]: Simplify (* 1 1) into 1 15.210 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.210 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.210 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 15.210 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 15.211 * [backup-simplify]: Simplify (+ 0 0) into 0 15.211 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.211 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.211 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0 15.212 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0 15.212 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.213 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0 15.213 * [backup-simplify]: Simplify (+ 0 0) into 0 15.214 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0 15.214 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.214 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0 15.215 * [backup-simplify]: Simplify (- 0) into 0 15.215 * [backup-simplify]: Simplify (+ 0 0) into 0 15.215 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0 15.216 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into 0 15.216 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0))) into 0 15.217 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0))) into 0 15.217 * [backup-simplify]: Simplify (+ 0 0) into 0 15.218 * [backup-simplify]: Simplify (- 0) into 0 15.218 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.220 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 15.220 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2 15.220 * [taylor]: Taking taylor expansion of 1/2 in lambda2 15.220 * [backup-simplify]: Simplify 1/2 into 1/2 15.220 * [taylor]: Taking taylor expansion of (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2 15.220 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 15.220 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 15.220 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 15.220 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 15.220 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.220 * [backup-simplify]: Simplify 0.5 into 0.5 15.220 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 15.220 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.220 * [backup-simplify]: Simplify phi1 into phi1 15.220 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.220 * [backup-simplify]: Simplify phi2 into phi2 15.220 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.220 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.221 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.221 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.221 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.221 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.221 * [backup-simplify]: Simplify (- 0) into 0 15.221 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.221 * [taylor]: Taking taylor expansion of (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 15.221 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) in lambda2 15.221 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.221 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.221 * [backup-simplify]: Simplify 0 into 0 15.221 * [backup-simplify]: Simplify 1 into 1 15.221 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 4) in lambda2 15.221 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 15.221 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 15.221 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.221 * [backup-simplify]: Simplify 0.5 into 0.5 15.221 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 15.221 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.221 * [backup-simplify]: Simplify phi1 into phi1 15.221 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.221 * [backup-simplify]: Simplify phi2 into phi2 15.221 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.221 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.222 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.222 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.222 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.222 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.222 * [backup-simplify]: Simplify (- 0) into 0 15.222 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.222 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 15.222 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 15.222 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.222 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.222 * [backup-simplify]: Simplify phi2 into phi2 15.222 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 15.222 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.222 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.223 * [backup-simplify]: Simplify phi1 into phi1 15.223 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 15.223 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.223 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.223 * [backup-simplify]: Simplify 0 into 0 15.223 * [backup-simplify]: Simplify 1 into 1 15.223 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 15.223 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 15.223 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 15.223 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.223 * [backup-simplify]: Simplify 0.5 into 0.5 15.223 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 15.223 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.223 * [backup-simplify]: Simplify phi1 into phi1 15.223 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.223 * [backup-simplify]: Simplify phi2 into phi2 15.223 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.223 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.223 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.223 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.223 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.223 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.223 * [backup-simplify]: Simplify (- 0) into 0 15.224 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.224 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 15.224 * [taylor]: Taking taylor expansion of 2 in lambda2 15.224 * [backup-simplify]: Simplify 2 into 2 15.224 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 15.224 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.224 * [backup-simplify]: Simplify phi1 into phi1 15.224 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.224 * [backup-simplify]: Simplify phi2 into phi2 15.224 * [backup-simplify]: Simplify (* 1 1) into 1 15.224 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.224 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4) 15.224 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 4)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4) 15.224 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.225 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.225 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 15.225 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 15.225 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.225 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 15.225 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 15.225 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 15.225 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 15.225 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 15.226 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 15.226 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 15.226 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 15.226 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.226 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.226 * [backup-simplify]: Simplify phi2 into phi2 15.226 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 15.226 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.226 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.226 * [backup-simplify]: Simplify phi1 into phi1 15.226 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 15.226 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.226 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.226 * [backup-simplify]: Simplify 0 into 0 15.226 * [backup-simplify]: Simplify 1 into 1 15.226 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 15.226 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 15.226 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 15.226 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.226 * [backup-simplify]: Simplify 0.5 into 0.5 15.226 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 15.226 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.226 * [backup-simplify]: Simplify phi1 into phi1 15.226 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.226 * [backup-simplify]: Simplify phi2 into phi2 15.226 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 15.226 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 15.226 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 15.226 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 15.226 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 15.226 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 15.227 * [backup-simplify]: Simplify (- 0) into 0 15.227 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 15.227 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 15.227 * [taylor]: Taking taylor expansion of 2 in lambda2 15.227 * [backup-simplify]: Simplify 2 into 2 15.227 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 15.227 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.227 * [backup-simplify]: Simplify phi1 into phi1 15.227 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.227 * [backup-simplify]: Simplify phi2 into phi2 15.227 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.227 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.227 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 15.227 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 15.227 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.227 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 15.228 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 15.228 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 15.228 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 15.229 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) 15.229 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.229 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.230 * [backup-simplify]: Simplify (+ 0 0) into 0 15.230 * [backup-simplify]: Simplify (+ 0 0) into 0 15.230 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 15.231 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 15.231 * [backup-simplify]: Simplify (- 0) into 0 15.231 * [backup-simplify]: Simplify (+ 0 0) into 0 15.232 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 15.233 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 15.233 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.233 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.234 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 15.235 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 15.235 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 15.235 * [taylor]: Taking taylor expansion of 1/2 in phi1 15.235 * [backup-simplify]: Simplify 1/2 into 1/2 15.235 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 15.235 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 15.235 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 15.235 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 15.235 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 15.235 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.235 * [taylor]: Taking taylor expansion of phi2 in phi1 15.235 * [backup-simplify]: Simplify phi2 into phi2 15.235 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.235 * [taylor]: Taking taylor expansion of phi1 in phi1 15.235 * [backup-simplify]: Simplify 0 into 0 15.235 * [backup-simplify]: Simplify 1 into 1 15.235 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 15.235 * [taylor]: Taking taylor expansion of 2 in phi1 15.235 * [backup-simplify]: Simplify 2 into 2 15.235 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 15.235 * [taylor]: Taking taylor expansion of phi1 in phi1 15.235 * [backup-simplify]: Simplify 0 into 0 15.235 * [backup-simplify]: Simplify 1 into 1 15.235 * [taylor]: Taking taylor expansion of phi2 in phi1 15.235 * [backup-simplify]: Simplify phi2 into phi2 15.235 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.236 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.236 * [backup-simplify]: Simplify (* 0 phi2) into 0 15.236 * [backup-simplify]: Simplify (* 2 0) into 0 15.237 * [backup-simplify]: Simplify (- 0) into 0 15.237 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.237 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.237 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 15.237 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.238 * [backup-simplify]: Simplify (+ 0 0) into 0 15.238 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 15.238 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 15.239 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 15.239 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 15.239 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 15.240 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 15.240 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 15.240 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.240 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.240 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.240 * [backup-simplify]: Simplify 0.5 into 0.5 15.240 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.240 * [taylor]: Taking taylor expansion of phi1 in phi1 15.240 * [backup-simplify]: Simplify 0 into 0 15.240 * [backup-simplify]: Simplify 1 into 1 15.240 * [taylor]: Taking taylor expansion of phi2 in phi1 15.240 * [backup-simplify]: Simplify phi2 into phi2 15.240 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.240 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.240 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.240 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.240 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.241 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.241 * [backup-simplify]: Simplify (- 0) into 0 15.241 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.241 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 15.242 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 15.242 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 15.242 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 15.242 * [taylor]: Taking taylor expansion of 1/2 in phi2 15.242 * [backup-simplify]: Simplify 1/2 into 1/2 15.242 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 15.242 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 15.242 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 15.242 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.242 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.242 * [backup-simplify]: Simplify 0.5 into 0.5 15.242 * [taylor]: Taking taylor expansion of phi2 in phi2 15.242 * [backup-simplify]: Simplify 0 into 0 15.242 * [backup-simplify]: Simplify 1 into 1 15.243 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.244 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.244 * [taylor]: Taking taylor expansion of phi2 in phi2 15.244 * [backup-simplify]: Simplify 0 into 0 15.244 * [backup-simplify]: Simplify 1 into 1 15.245 * [backup-simplify]: Simplify (* 1 1) into 1 15.245 * [backup-simplify]: Simplify (/ 1 1) into 1 15.246 * [backup-simplify]: Simplify (+ 0) into 0 15.246 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.247 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 15.248 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 15.248 * [backup-simplify]: Simplify 0 into 0 15.248 * [backup-simplify]: Simplify (+ 0) into 0 15.249 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 15.249 * [backup-simplify]: Simplify (+ 0 0) into 0 15.250 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 15.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.251 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 15.252 * [backup-simplify]: Simplify (- 0) into 0 15.252 * [backup-simplify]: Simplify (+ 0 0) into 0 15.252 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 15.253 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.254 * [backup-simplify]: Simplify (+ (* 0 0) (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 15.255 * [backup-simplify]: Simplify (+ (* -1 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 15.255 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 15.255 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 15.255 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 15.255 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 15.256 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 15.256 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 15.256 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.256 * [taylor]: Taking taylor expansion of phi2 in phi1 15.256 * [backup-simplify]: Simplify phi2 into phi2 15.256 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.256 * [taylor]: Taking taylor expansion of phi1 in phi1 15.256 * [backup-simplify]: Simplify 0 into 0 15.256 * [backup-simplify]: Simplify 1 into 1 15.256 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 15.256 * [taylor]: Taking taylor expansion of 2 in phi1 15.256 * [backup-simplify]: Simplify 2 into 2 15.256 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 15.256 * [taylor]: Taking taylor expansion of phi1 in phi1 15.256 * [backup-simplify]: Simplify 0 into 0 15.256 * [backup-simplify]: Simplify 1 into 1 15.256 * [taylor]: Taking taylor expansion of phi2 in phi1 15.256 * [backup-simplify]: Simplify phi2 into phi2 15.256 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.256 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.256 * [backup-simplify]: Simplify (* 0 phi2) into 0 15.257 * [backup-simplify]: Simplify (* 2 0) into 0 15.257 * [backup-simplify]: Simplify (- 0) into 0 15.257 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.257 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.258 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 15.258 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.258 * [backup-simplify]: Simplify (+ 0 0) into 0 15.258 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 15.259 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 15.259 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 15.259 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 15.260 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 15.260 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 15.260 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 15.260 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.260 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.260 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.260 * [backup-simplify]: Simplify 0.5 into 0.5 15.260 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.260 * [taylor]: Taking taylor expansion of phi1 in phi1 15.260 * [backup-simplify]: Simplify 0 into 0 15.260 * [backup-simplify]: Simplify 1 into 1 15.260 * [taylor]: Taking taylor expansion of phi2 in phi1 15.260 * [backup-simplify]: Simplify phi2 into phi2 15.260 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.260 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.260 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.261 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.261 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.261 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.261 * [backup-simplify]: Simplify (- 0) into 0 15.261 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.261 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 15.262 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 15.262 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 15.262 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 15.262 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 15.262 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 15.262 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 15.262 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.262 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.262 * [backup-simplify]: Simplify 0.5 into 0.5 15.262 * [taylor]: Taking taylor expansion of phi2 in phi2 15.262 * [backup-simplify]: Simplify 0 into 0 15.262 * [backup-simplify]: Simplify 1 into 1 15.263 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.264 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.264 * [taylor]: Taking taylor expansion of phi2 in phi2 15.264 * [backup-simplify]: Simplify 0 into 0 15.264 * [backup-simplify]: Simplify 1 into 1 15.265 * [backup-simplify]: Simplify (* 1 1) into 1 15.265 * [backup-simplify]: Simplify (/ 1 1) into 1 15.265 * [backup-simplify]: Simplify (+ 0) into 0 15.266 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.267 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 15.267 * [backup-simplify]: Simplify (- 0) into 0 15.267 * [backup-simplify]: Simplify 0 into 0 15.268 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 15.268 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 15.269 * [backup-simplify]: Simplify (* 1 1) into 1 15.269 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.269 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.269 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.270 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.270 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0 15.271 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0 15.272 * [backup-simplify]: Simplify (- 0) into 0 15.272 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 15.274 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow 0 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 15.274 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 15.274 * [taylor]: Taking taylor expansion of 1/2 in phi1 15.274 * [backup-simplify]: Simplify 1/2 into 1/2 15.274 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 15.274 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 15.274 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 15.274 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 15.274 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 15.274 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.274 * [taylor]: Taking taylor expansion of phi2 in phi1 15.274 * [backup-simplify]: Simplify phi2 into phi2 15.274 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.274 * [taylor]: Taking taylor expansion of phi1 in phi1 15.274 * [backup-simplify]: Simplify 0 into 0 15.274 * [backup-simplify]: Simplify 1 into 1 15.274 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 15.274 * [taylor]: Taking taylor expansion of 2 in phi1 15.274 * [backup-simplify]: Simplify 2 into 2 15.274 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 15.274 * [taylor]: Taking taylor expansion of phi1 in phi1 15.274 * [backup-simplify]: Simplify 0 into 0 15.274 * [backup-simplify]: Simplify 1 into 1 15.274 * [taylor]: Taking taylor expansion of phi2 in phi1 15.274 * [backup-simplify]: Simplify phi2 into phi2 15.274 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.275 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.275 * [backup-simplify]: Simplify (* 0 phi2) into 0 15.275 * [backup-simplify]: Simplify (* 2 0) into 0 15.275 * [backup-simplify]: Simplify (- 0) into 0 15.276 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 15.276 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.276 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 15.276 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.276 * [backup-simplify]: Simplify (+ 0 0) into 0 15.277 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 15.277 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 15.277 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 15.277 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 15.278 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 15.278 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 15.278 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 15.278 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.278 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.278 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.278 * [backup-simplify]: Simplify 0.5 into 0.5 15.278 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.278 * [taylor]: Taking taylor expansion of phi1 in phi1 15.278 * [backup-simplify]: Simplify 0 into 0 15.278 * [backup-simplify]: Simplify 1 into 1 15.278 * [taylor]: Taking taylor expansion of phi2 in phi1 15.278 * [backup-simplify]: Simplify phi2 into phi2 15.279 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.279 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.279 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.279 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.279 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.279 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.279 * [backup-simplify]: Simplify (- 0) into 0 15.279 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.280 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 15.280 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 15.280 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 15.280 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 15.280 * [taylor]: Taking taylor expansion of 1/2 in phi2 15.280 * [backup-simplify]: Simplify 1/2 into 1/2 15.280 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 15.280 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 15.280 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 15.280 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.280 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.280 * [backup-simplify]: Simplify 0.5 into 0.5 15.280 * [taylor]: Taking taylor expansion of phi2 in phi2 15.280 * [backup-simplify]: Simplify 0 into 0 15.280 * [backup-simplify]: Simplify 1 into 1 15.281 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.282 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.282 * [taylor]: Taking taylor expansion of phi2 in phi2 15.282 * [backup-simplify]: Simplify 0 into 0 15.283 * [backup-simplify]: Simplify 1 into 1 15.283 * [backup-simplify]: Simplify (* 1 1) into 1 15.283 * [backup-simplify]: Simplify (/ 1 1) into 1 15.284 * [backup-simplify]: Simplify (+ 0) into 0 15.284 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.285 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 15.286 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 15.286 * [backup-simplify]: Simplify 0 into 0 15.286 * [taylor]: Taking taylor expansion of 0 in phi2 15.286 * [backup-simplify]: Simplify 0 into 0 15.286 * [backup-simplify]: Simplify 0 into 0 15.286 * [taylor]: Taking taylor expansion of 0 in phi2 15.286 * [backup-simplify]: Simplify 0 into 0 15.286 * [backup-simplify]: Simplify 0 into 0 15.287 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 15.287 * [backup-simplify]: Simplify (* 1 1) into 1 15.287 * [backup-simplify]: Simplify (+ 0 1) into 1 15.288 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi2))) into 0 15.289 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 15.289 * [backup-simplify]: Simplify (- 0) into 0 15.290 * [backup-simplify]: Simplify (+ 1 0) into 1 15.291 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 15.291 * [taylor]: Taking taylor expansion of 0 in phi2 15.291 * [backup-simplify]: Simplify 0 into 0 15.291 * [backup-simplify]: Simplify 0 into 0 15.292 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 15.294 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (* (* (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))))) (cbrt (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) 15.294 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in (lambda1 lambda2 phi1 phi2) around 0 15.294 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in phi2 15.295 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in phi2 15.295 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in phi2 15.295 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 15.295 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 15.295 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.295 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.295 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.295 * [backup-simplify]: Simplify 0.5 into 0.5 15.295 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.295 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.295 * [taylor]: Taking taylor expansion of phi1 in phi2 15.295 * [backup-simplify]: Simplify phi1 into phi1 15.295 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.295 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.295 * [taylor]: Taking taylor expansion of phi2 in phi2 15.295 * [backup-simplify]: Simplify 0 into 0 15.295 * [backup-simplify]: Simplify 1 into 1 15.296 * [backup-simplify]: Simplify (/ 1 1) into 1 15.296 * [backup-simplify]: Simplify (+ 0 1) into 1 15.297 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.297 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.297 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 15.297 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.297 * [backup-simplify]: Simplify lambda1 into lambda1 15.297 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.297 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.298 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 15.298 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in phi2 15.298 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 15.298 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 15.298 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.298 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.298 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.298 * [backup-simplify]: Simplify 0.5 into 0.5 15.298 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.298 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.298 * [taylor]: Taking taylor expansion of phi1 in phi2 15.298 * [backup-simplify]: Simplify phi1 into phi1 15.298 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.298 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.298 * [taylor]: Taking taylor expansion of phi2 in phi2 15.298 * [backup-simplify]: Simplify 0 into 0 15.298 * [backup-simplify]: Simplify 1 into 1 15.299 * [backup-simplify]: Simplify (/ 1 1) into 1 15.299 * [backup-simplify]: Simplify (+ 0 1) into 1 15.300 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.300 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.300 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.300 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.300 * [backup-simplify]: Simplify lambda2 into lambda2 15.301 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.301 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.302 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 15.302 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in phi2 15.302 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 15.302 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 15.302 * [taylor]: Taking taylor expansion of phi1 in phi2 15.302 * [backup-simplify]: Simplify phi1 into phi1 15.302 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.302 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.302 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 15.302 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 15.302 * [taylor]: Taking taylor expansion of phi2 in phi2 15.302 * [backup-simplify]: Simplify 0 into 0 15.302 * [backup-simplify]: Simplify 1 into 1 15.302 * [backup-simplify]: Simplify (* 1 1) into 1 15.303 * [backup-simplify]: Simplify (/ 1 1) into 1 15.303 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in phi2 15.303 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2 15.303 * [taylor]: Taking taylor expansion of 2 in phi2 15.303 * [backup-simplify]: Simplify 2 into 2 15.303 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2 15.303 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 15.303 * [taylor]: Taking taylor expansion of phi1 in phi2 15.303 * [backup-simplify]: Simplify phi1 into phi1 15.303 * [taylor]: Taking taylor expansion of phi2 in phi2 15.303 * [backup-simplify]: Simplify 0 into 0 15.303 * [backup-simplify]: Simplify 1 into 1 15.303 * [backup-simplify]: Simplify (* phi1 0) into 0 15.304 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 15.304 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.304 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in phi2 15.304 * [taylor]: Taking taylor expansion of 2 in phi2 15.304 * [backup-simplify]: Simplify 2 into 2 15.304 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in phi2 15.304 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 15.304 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.304 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.304 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.304 * [backup-simplify]: Simplify 0.5 into 0.5 15.304 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.304 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.304 * [taylor]: Taking taylor expansion of phi1 in phi2 15.304 * [backup-simplify]: Simplify phi1 into phi1 15.304 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.304 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.304 * [taylor]: Taking taylor expansion of phi2 in phi2 15.304 * [backup-simplify]: Simplify 0 into 0 15.304 * [backup-simplify]: Simplify 1 into 1 15.305 * [backup-simplify]: Simplify (/ 1 1) into 1 15.305 * [backup-simplify]: Simplify (+ 0 1) into 1 15.306 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.306 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.306 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in phi2 15.306 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.306 * [backup-simplify]: Simplify lambda1 into lambda1 15.306 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.306 * [backup-simplify]: Simplify lambda2 into lambda2 15.306 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.306 * [backup-simplify]: Simplify (* lambda1 lambda2) into (* lambda2 lambda1) 15.307 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) 15.307 * [backup-simplify]: Simplify (+ 0 1) into 1 15.307 * [backup-simplify]: Simplify (+ 0 1) into 1 15.308 * [backup-simplify]: Simplify (+ 0 1) into 1 15.308 * [backup-simplify]: Simplify (+ 1 0) into 1 15.308 * [backup-simplify]: Simplify (sqrt 1) into 1 15.309 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.309 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.309 * [backup-simplify]: Simplify (+ 0 0) into 0 15.309 * [backup-simplify]: Simplify (+ 0 0) into 0 15.310 * [backup-simplify]: Simplify (+ 0 0) into 0 15.310 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 15.310 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 15.310 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 15.310 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 15.310 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 15.310 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in phi1 15.310 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in phi1 15.310 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in phi1 15.310 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 15.310 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 15.310 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.310 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.310 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.311 * [backup-simplify]: Simplify 0.5 into 0.5 15.311 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.311 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.311 * [taylor]: Taking taylor expansion of phi1 in phi1 15.311 * [backup-simplify]: Simplify 0 into 0 15.311 * [backup-simplify]: Simplify 1 into 1 15.311 * [backup-simplify]: Simplify (/ 1 1) into 1 15.311 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.311 * [taylor]: Taking taylor expansion of phi2 in phi1 15.311 * [backup-simplify]: Simplify phi2 into phi2 15.311 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.311 * [backup-simplify]: Simplify (+ 1 0) into 1 15.311 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.312 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.312 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.312 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.312 * [backup-simplify]: Simplify lambda1 into lambda1 15.312 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.312 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.312 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 15.312 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in phi1 15.312 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 15.312 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 15.312 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.312 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.312 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.312 * [backup-simplify]: Simplify 0.5 into 0.5 15.312 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.312 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.312 * [taylor]: Taking taylor expansion of phi1 in phi1 15.312 * [backup-simplify]: Simplify 0 into 0 15.312 * [backup-simplify]: Simplify 1 into 1 15.313 * [backup-simplify]: Simplify (/ 1 1) into 1 15.313 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.313 * [taylor]: Taking taylor expansion of phi2 in phi1 15.313 * [backup-simplify]: Simplify phi2 into phi2 15.313 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.313 * [backup-simplify]: Simplify (+ 1 0) into 1 15.313 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.313 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.313 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.313 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.313 * [backup-simplify]: Simplify lambda2 into lambda2 15.314 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.314 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.314 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 15.314 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in phi1 15.314 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 15.314 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.314 * [taylor]: Taking taylor expansion of phi1 in phi1 15.314 * [backup-simplify]: Simplify 0 into 0 15.314 * [backup-simplify]: Simplify 1 into 1 15.314 * [backup-simplify]: Simplify (* 1 1) into 1 15.314 * [backup-simplify]: Simplify (/ 1 1) into 1 15.315 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 15.315 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.315 * [taylor]: Taking taylor expansion of phi2 in phi1 15.315 * [backup-simplify]: Simplify phi2 into phi2 15.315 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.315 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.315 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in phi1 15.315 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 15.315 * [taylor]: Taking taylor expansion of 2 in phi1 15.315 * [backup-simplify]: Simplify 2 into 2 15.315 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 15.315 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 15.315 * [taylor]: Taking taylor expansion of phi1 in phi1 15.315 * [backup-simplify]: Simplify 0 into 0 15.315 * [backup-simplify]: Simplify 1 into 1 15.315 * [taylor]: Taking taylor expansion of phi2 in phi1 15.315 * [backup-simplify]: Simplify phi2 into phi2 15.315 * [backup-simplify]: Simplify (* 0 phi2) into 0 15.315 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 15.315 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.315 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in phi1 15.315 * [taylor]: Taking taylor expansion of 2 in phi1 15.315 * [backup-simplify]: Simplify 2 into 2 15.315 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in phi1 15.315 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 15.315 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.315 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.315 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.315 * [backup-simplify]: Simplify 0.5 into 0.5 15.315 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.315 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.315 * [taylor]: Taking taylor expansion of phi1 in phi1 15.315 * [backup-simplify]: Simplify 0 into 0 15.315 * [backup-simplify]: Simplify 1 into 1 15.316 * [backup-simplify]: Simplify (/ 1 1) into 1 15.316 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.316 * [taylor]: Taking taylor expansion of phi2 in phi1 15.316 * [backup-simplify]: Simplify phi2 into phi2 15.316 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.316 * [backup-simplify]: Simplify (+ 1 0) into 1 15.316 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.316 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.316 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in phi1 15.316 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.316 * [backup-simplify]: Simplify lambda1 into lambda1 15.317 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.317 * [backup-simplify]: Simplify lambda2 into lambda2 15.317 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.317 * [backup-simplify]: Simplify (* lambda1 lambda2) into (* lambda2 lambda1) 15.317 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) 15.317 * [backup-simplify]: Simplify (+ 1 0) into 1 15.318 * [backup-simplify]: Simplify (+ 0 1) into 1 15.318 * [backup-simplify]: Simplify (+ 0 1) into 1 15.318 * [backup-simplify]: Simplify (+ 1 0) into 1 15.318 * [backup-simplify]: Simplify (sqrt 1) into 1 15.319 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.319 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.319 * [backup-simplify]: Simplify (+ 0 0) into 0 15.320 * [backup-simplify]: Simplify (+ 0 0) into 0 15.320 * [backup-simplify]: Simplify (+ 0 0) into 0 15.320 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 15.320 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 15.320 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 15.320 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 15.320 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 15.320 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda2 15.321 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda2 15.321 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda2 15.321 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 15.321 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 15.321 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.321 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.321 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.321 * [backup-simplify]: Simplify 0.5 into 0.5 15.321 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.321 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.321 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.321 * [backup-simplify]: Simplify phi1 into phi1 15.321 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.321 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.321 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.321 * [backup-simplify]: Simplify phi2 into phi2 15.321 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.321 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.321 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.321 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.321 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.322 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.322 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.322 * [backup-simplify]: Simplify (- 0) into 0 15.322 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.322 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 15.323 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.323 * [backup-simplify]: Simplify lambda1 into lambda1 15.323 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.323 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.323 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 15.323 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda2 15.323 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 15.324 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 15.324 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.324 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.324 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.324 * [backup-simplify]: Simplify 0.5 into 0.5 15.324 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.324 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.324 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.324 * [backup-simplify]: Simplify phi1 into phi1 15.324 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.324 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.324 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.324 * [backup-simplify]: Simplify phi2 into phi2 15.324 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.324 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.324 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.324 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.325 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.325 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.325 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.325 * [backup-simplify]: Simplify (- 0) into 0 15.326 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.326 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.326 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.326 * [backup-simplify]: Simplify 0 into 0 15.326 * [backup-simplify]: Simplify 1 into 1 15.326 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.327 * [backup-simplify]: Simplify (* 1 1) into 1 15.327 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.327 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2 15.327 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 15.327 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.327 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.327 * [backup-simplify]: Simplify phi1 into phi1 15.327 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.327 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.327 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 15.327 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.327 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.327 * [backup-simplify]: Simplify phi2 into phi2 15.327 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.328 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.328 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda2 15.328 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 15.328 * [taylor]: Taking taylor expansion of 2 in lambda2 15.328 * [backup-simplify]: Simplify 2 into 2 15.328 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 15.328 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 15.328 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.328 * [backup-simplify]: Simplify phi1 into phi1 15.328 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.328 * [backup-simplify]: Simplify phi2 into phi2 15.328 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.328 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 15.328 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda2 15.328 * [taylor]: Taking taylor expansion of 2 in lambda2 15.328 * [backup-simplify]: Simplify 2 into 2 15.328 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda2 15.328 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 15.328 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.328 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.328 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.328 * [backup-simplify]: Simplify 0.5 into 0.5 15.328 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.328 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.328 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.328 * [backup-simplify]: Simplify phi1 into phi1 15.328 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.328 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.329 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.329 * [backup-simplify]: Simplify phi2 into phi2 15.329 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.329 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.329 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.329 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.329 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.329 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.330 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.333 * [backup-simplify]: Simplify (- 0) into 0 15.333 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.333 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda2 15.333 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.333 * [backup-simplify]: Simplify lambda1 into lambda1 15.333 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.333 * [backup-simplify]: Simplify 0 into 0 15.333 * [backup-simplify]: Simplify 1 into 1 15.334 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.334 * [backup-simplify]: Simplify (* lambda1 0) into 0 15.334 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 15.335 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 15.335 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.335 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.336 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.336 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.337 * [backup-simplify]: Simplify (+ 0) into 0 15.337 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.337 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.337 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.338 * [backup-simplify]: Simplify (+ 0 0) into 0 15.338 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.339 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.340 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.340 * [backup-simplify]: Simplify (- 0) into 0 15.341 * [backup-simplify]: Simplify (+ 0 0) into 0 15.341 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.342 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.343 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 15.343 * [backup-simplify]: Simplify (+ 0 0) into 0 15.344 * [backup-simplify]: Simplify (+ 0 0) into 0 15.344 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 15.345 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 15.345 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 15.346 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 15.347 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 15.347 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda1 15.347 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda1 15.347 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda1 15.347 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 15.347 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.347 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.347 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.347 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.347 * [backup-simplify]: Simplify 0.5 into 0.5 15.347 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.347 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.347 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.347 * [backup-simplify]: Simplify phi1 into phi1 15.347 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.347 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.347 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.347 * [backup-simplify]: Simplify phi2 into phi2 15.347 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.347 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.348 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.348 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.348 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.348 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.348 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.349 * [backup-simplify]: Simplify (- 0) into 0 15.349 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.349 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.349 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.349 * [backup-simplify]: Simplify 0 into 0 15.349 * [backup-simplify]: Simplify 1 into 1 15.349 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.350 * [backup-simplify]: Simplify (* 1 1) into 1 15.350 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.350 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda1 15.350 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 15.350 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.350 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.350 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.350 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.350 * [backup-simplify]: Simplify 0.5 into 0.5 15.350 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.351 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.351 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.351 * [backup-simplify]: Simplify phi1 into phi1 15.351 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.351 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.351 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.351 * [backup-simplify]: Simplify phi2 into phi2 15.351 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.351 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.351 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.351 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.351 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.351 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.351 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.352 * [backup-simplify]: Simplify (- 0) into 0 15.352 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.352 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.352 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.352 * [backup-simplify]: Simplify lambda2 into lambda2 15.352 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.352 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.352 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 15.352 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda1 15.352 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 15.352 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 15.352 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.352 * [backup-simplify]: Simplify phi1 into phi1 15.352 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.352 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.353 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 15.353 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 15.353 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.353 * [backup-simplify]: Simplify phi2 into phi2 15.353 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.353 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.353 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda1 15.353 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 15.353 * [taylor]: Taking taylor expansion of 2 in lambda1 15.353 * [backup-simplify]: Simplify 2 into 2 15.353 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 15.353 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 15.353 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.353 * [backup-simplify]: Simplify phi1 into phi1 15.353 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.353 * [backup-simplify]: Simplify phi2 into phi2 15.353 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.353 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 15.353 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda1 15.353 * [taylor]: Taking taylor expansion of 2 in lambda1 15.353 * [backup-simplify]: Simplify 2 into 2 15.353 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda1 15.353 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.353 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.353 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.353 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.353 * [backup-simplify]: Simplify 0.5 into 0.5 15.353 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.353 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.353 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.353 * [backup-simplify]: Simplify phi1 into phi1 15.353 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.353 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.353 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.353 * [backup-simplify]: Simplify phi2 into phi2 15.353 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.353 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.353 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.353 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.354 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.354 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.354 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.354 * [backup-simplify]: Simplify (- 0) into 0 15.354 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.354 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda1 15.354 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.354 * [backup-simplify]: Simplify 0 into 0 15.354 * [backup-simplify]: Simplify 1 into 1 15.354 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.354 * [backup-simplify]: Simplify lambda2 into lambda2 15.355 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.355 * [backup-simplify]: Simplify (* 0 lambda2) into 0 15.355 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda2)) into lambda2 15.355 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 15.355 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.355 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.356 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.356 * [backup-simplify]: Simplify (+ 0) into 0 15.356 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.356 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.356 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.357 * [backup-simplify]: Simplify (+ 0 0) into 0 15.357 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.357 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.358 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.358 * [backup-simplify]: Simplify (- 0) into 0 15.358 * [backup-simplify]: Simplify (+ 0 0) into 0 15.358 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.359 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.360 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 15.360 * [backup-simplify]: Simplify (+ 0 0) into 0 15.360 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 15.360 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 15.361 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 15.361 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 15.361 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 15.361 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda1 15.361 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda1 15.361 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda1 15.361 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 15.361 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.361 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.361 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.361 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.362 * [backup-simplify]: Simplify 0.5 into 0.5 15.362 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.362 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.362 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.362 * [backup-simplify]: Simplify phi1 into phi1 15.362 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.362 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.362 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.362 * [backup-simplify]: Simplify phi2 into phi2 15.362 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.362 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.362 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.362 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.362 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.362 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.362 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.363 * [backup-simplify]: Simplify (- 0) into 0 15.363 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.363 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.363 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.363 * [backup-simplify]: Simplify 0 into 0 15.363 * [backup-simplify]: Simplify 1 into 1 15.363 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.363 * [backup-simplify]: Simplify (* 1 1) into 1 15.363 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.363 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda1 15.363 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 15.363 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.363 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.363 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.363 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.364 * [backup-simplify]: Simplify 0.5 into 0.5 15.364 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.364 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.364 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.364 * [backup-simplify]: Simplify phi1 into phi1 15.364 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.364 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.364 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.364 * [backup-simplify]: Simplify phi2 into phi2 15.364 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.364 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.364 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.364 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.364 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.364 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.364 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.364 * [backup-simplify]: Simplify (- 0) into 0 15.365 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.365 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.365 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.365 * [backup-simplify]: Simplify lambda2 into lambda2 15.365 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.365 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.365 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 15.365 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda1 15.365 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 15.365 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 15.365 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.365 * [backup-simplify]: Simplify phi1 into phi1 15.365 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.365 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.365 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 15.365 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 15.365 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.365 * [backup-simplify]: Simplify phi2 into phi2 15.365 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.365 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.366 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda1 15.366 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 15.366 * [taylor]: Taking taylor expansion of 2 in lambda1 15.366 * [backup-simplify]: Simplify 2 into 2 15.366 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 15.366 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 15.366 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.366 * [backup-simplify]: Simplify phi1 into phi1 15.366 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.366 * [backup-simplify]: Simplify phi2 into phi2 15.366 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.366 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 15.366 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda1 15.366 * [taylor]: Taking taylor expansion of 2 in lambda1 15.366 * [backup-simplify]: Simplify 2 into 2 15.366 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda1 15.366 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.366 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.366 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.366 * [taylor]: Taking taylor expansion of 0.5 in lambda1 15.366 * [backup-simplify]: Simplify 0.5 into 0.5 15.366 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.366 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.366 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.366 * [backup-simplify]: Simplify phi1 into phi1 15.366 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.366 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.366 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.366 * [backup-simplify]: Simplify phi2 into phi2 15.366 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.366 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.366 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.366 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.366 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.366 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.367 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.367 * [backup-simplify]: Simplify (- 0) into 0 15.367 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.367 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda1 15.367 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.367 * [backup-simplify]: Simplify 0 into 0 15.367 * [backup-simplify]: Simplify 1 into 1 15.367 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.367 * [backup-simplify]: Simplify lambda2 into lambda2 15.367 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.367 * [backup-simplify]: Simplify (* 0 lambda2) into 0 15.368 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda2)) into lambda2 15.368 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 15.368 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.368 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.368 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.369 * [backup-simplify]: Simplify (+ 0) into 0 15.369 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.369 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.369 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.369 * [backup-simplify]: Simplify (+ 0 0) into 0 15.370 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.371 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.371 * [backup-simplify]: Simplify (- 0) into 0 15.371 * [backup-simplify]: Simplify (+ 0 0) into 0 15.371 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.372 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.372 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 15.373 * [backup-simplify]: Simplify (+ 0 0) into 0 15.373 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 15.373 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 15.373 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 15.374 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 15.374 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 15.374 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.374 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.374 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.374 * [backup-simplify]: Simplify 0.5 into 0.5 15.374 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.374 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.374 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.374 * [backup-simplify]: Simplify phi1 into phi1 15.374 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.374 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.374 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.374 * [backup-simplify]: Simplify phi2 into phi2 15.374 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.374 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.375 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.375 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.375 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.375 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 15.375 * [taylor]: Taking taylor expansion of -1 in lambda2 15.375 * [backup-simplify]: Simplify -1 into -1 15.375 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 15.375 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.375 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.375 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.375 * [backup-simplify]: Simplify 0.5 into 0.5 15.375 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.375 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.375 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.375 * [backup-simplify]: Simplify phi1 into phi1 15.375 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.375 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.375 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.375 * [backup-simplify]: Simplify phi2 into phi2 15.375 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.375 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.375 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.375 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.375 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.375 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.375 * [backup-simplify]: Simplify 0 into 0 15.375 * [backup-simplify]: Simplify 1 into 1 15.376 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.376 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.376 * [backup-simplify]: Simplify (- 0) into 0 15.376 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.376 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.376 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.376 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 15.376 * [taylor]: Taking taylor expansion of -1 in phi1 15.376 * [backup-simplify]: Simplify -1 into -1 15.376 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.376 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.376 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.376 * [backup-simplify]: Simplify 0.5 into 0.5 15.376 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.376 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.376 * [taylor]: Taking taylor expansion of phi1 in phi1 15.376 * [backup-simplify]: Simplify 0 into 0 15.377 * [backup-simplify]: Simplify 1 into 1 15.377 * [backup-simplify]: Simplify (/ 1 1) into 1 15.377 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.377 * [taylor]: Taking taylor expansion of phi2 in phi1 15.377 * [backup-simplify]: Simplify phi2 into phi2 15.377 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.377 * [backup-simplify]: Simplify (+ 1 0) into 1 15.377 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.378 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.378 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.378 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.378 * [backup-simplify]: Simplify (- 0) into 0 15.378 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.378 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.378 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.378 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.378 * [backup-simplify]: Simplify 0.5 into 0.5 15.378 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.378 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.378 * [taylor]: Taking taylor expansion of phi1 in phi1 15.378 * [backup-simplify]: Simplify 0 into 0 15.378 * [backup-simplify]: Simplify 1 into 1 15.379 * [backup-simplify]: Simplify (/ 1 1) into 1 15.379 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.379 * [taylor]: Taking taylor expansion of phi2 in phi1 15.379 * [backup-simplify]: Simplify phi2 into phi2 15.379 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.379 * [backup-simplify]: Simplify (+ 1 0) into 1 15.379 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.380 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.381 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.381 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 15.382 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.382 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.382 * [backup-simplify]: Simplify (+ 0 0) into 0 15.383 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 15.384 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.385 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 15.385 * [backup-simplify]: Simplify (- 0) into 0 15.385 * [backup-simplify]: Simplify (+ 0 0) into 0 15.386 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 15.387 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 15.389 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 15.389 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 15.390 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) 15.391 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 15.391 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 15.391 * [backup-simplify]: Simplify (+ 0) into 0 15.392 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.392 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.392 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.393 * [backup-simplify]: Simplify (+ 0 0) into 0 15.393 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.395 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.395 * [backup-simplify]: Simplify (- 0) into 0 15.396 * [backup-simplify]: Simplify (+ 0 0) into 0 15.396 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.397 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda2))) into 0 15.398 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 15.399 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 15.399 * [backup-simplify]: Simplify (+ (/ 2 (* phi1 phi2)) 0) into (* 2 (/ 1 (* phi1 phi2))) 15.399 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi1 phi2)))) into (- (* 2 (/ 1 (* phi1 phi2)))) 15.400 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) 15.402 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.402 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 15.402 * [taylor]: Taking taylor expansion of 1/2 in lambda2 15.402 * [backup-simplify]: Simplify 1/2 into 1/2 15.402 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 15.402 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2 15.402 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2 15.402 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 15.402 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.402 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.402 * [backup-simplify]: Simplify phi1 into phi1 15.402 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.403 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.403 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 15.403 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.403 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.403 * [backup-simplify]: Simplify phi2 into phi2 15.403 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.403 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.403 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 15.403 * [taylor]: Taking taylor expansion of 2 in lambda2 15.403 * [backup-simplify]: Simplify 2 into 2 15.403 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 15.403 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 15.403 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.403 * [backup-simplify]: Simplify phi1 into phi1 15.403 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.403 * [backup-simplify]: Simplify phi2 into phi2 15.403 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.403 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 15.403 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.403 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.403 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.403 * [backup-simplify]: Simplify 0.5 into 0.5 15.403 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.404 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.404 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.404 * [backup-simplify]: Simplify phi1 into phi1 15.404 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.404 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.404 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.404 * [backup-simplify]: Simplify phi2 into phi2 15.404 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.404 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.404 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.404 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.404 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.405 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 15.405 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 15.405 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 15.405 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 15.406 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.406 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.406 * [backup-simplify]: Simplify (- 0) into 0 15.407 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.407 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.408 * [backup-simplify]: Simplify (+ 0) into 0 15.408 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.408 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.409 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.409 * [backup-simplify]: Simplify (+ 0 0) into 0 15.409 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.411 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.411 * [backup-simplify]: Simplify (- 0) into 0 15.412 * [backup-simplify]: Simplify (+ 0 0) into 0 15.412 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 15.413 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.413 * [taylor]: Taking taylor expansion of 0 in phi1 15.413 * [backup-simplify]: Simplify 0 into 0 15.414 * [backup-simplify]: Simplify (+ 0) into 0 15.414 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.414 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.414 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.415 * [backup-simplify]: Simplify (+ 0 0) into 0 15.415 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.416 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.416 * [backup-simplify]: Simplify (- 0) into 0 15.417 * [backup-simplify]: Simplify (+ 0 0) into 0 15.417 * [taylor]: Taking taylor expansion of 0 in phi1 15.417 * [backup-simplify]: Simplify 0 into 0 15.417 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.417 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 15.417 * [taylor]: Taking taylor expansion of -1 in phi2 15.417 * [backup-simplify]: Simplify -1 into -1 15.417 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.417 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.417 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.417 * [backup-simplify]: Simplify 0.5 into 0.5 15.417 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.417 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.417 * [taylor]: Taking taylor expansion of phi1 in phi2 15.417 * [backup-simplify]: Simplify phi1 into phi1 15.417 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.417 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.417 * [taylor]: Taking taylor expansion of phi2 in phi2 15.417 * [backup-simplify]: Simplify 0 into 0 15.417 * [backup-simplify]: Simplify 1 into 1 15.417 * [backup-simplify]: Simplify (/ 1 1) into 1 15.417 * [backup-simplify]: Simplify (+ 0 1) into 1 15.418 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.418 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.418 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.418 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.418 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.418 * [backup-simplify]: Simplify 0.5 into 0.5 15.418 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.418 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.418 * [taylor]: Taking taylor expansion of phi1 in phi2 15.418 * [backup-simplify]: Simplify phi1 into phi1 15.418 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.418 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.418 * [taylor]: Taking taylor expansion of phi2 in phi2 15.418 * [backup-simplify]: Simplify 0 into 0 15.418 * [backup-simplify]: Simplify 1 into 1 15.418 * [backup-simplify]: Simplify (/ 1 1) into 1 15.419 * [backup-simplify]: Simplify (+ 0 1) into 1 15.419 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.419 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.420 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 15.420 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 15.420 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.420 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.421 * [backup-simplify]: Simplify (+ 0 0) into 0 15.421 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.422 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 15.423 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 15.423 * [backup-simplify]: Simplify (- 0) into 0 15.423 * [backup-simplify]: Simplify (+ 0 0) into 0 15.424 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 15.424 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 15.426 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 15.426 * [backup-simplify]: Simplify (+ 0) into 0 15.426 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.427 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.427 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.427 * [backup-simplify]: Simplify (+ 0 0) into 0 15.427 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.428 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.428 * [backup-simplify]: Simplify (- 0) into 0 15.428 * [backup-simplify]: Simplify (+ 0 0) into 0 15.429 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.429 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.429 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 15.429 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.430 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 15.430 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.430 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 15.430 * [backup-simplify]: Simplify (+ 0 0) into 0 15.430 * [backup-simplify]: Simplify (+ 0 0) into 0 15.430 * [backup-simplify]: Simplify (+ 0 0) into 0 15.431 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 15.431 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi1 phi2)) (/ 0 (* phi1 phi2))))) into 0 15.431 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi1 phi2)))) into 0 15.432 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.432 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 15.432 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.432 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.432 * [backup-simplify]: Simplify (+ 0 0) into 0 15.433 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 15.434 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.434 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 15.434 * [backup-simplify]: Simplify (- 0) into 0 15.434 * [backup-simplify]: Simplify (+ 0 0) into 0 15.435 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 15.436 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda2)))) into 0 15.436 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 15.437 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 15.437 * [backup-simplify]: Simplify (+ 0 0) into 0 15.437 * [backup-simplify]: Simplify (- 0) into 0 15.437 * [backup-simplify]: Simplify (+ 0 0) into 0 15.438 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.438 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 15.438 * [taylor]: Taking taylor expansion of 1/2 in lambda2 15.438 * [backup-simplify]: Simplify 1/2 into 1/2 15.438 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 15.438 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2 15.438 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2 15.438 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2 15.438 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2 15.438 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.438 * [backup-simplify]: Simplify 0 into 0 15.438 * [backup-simplify]: Simplify 1 into 1 15.438 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.438 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.438 * [backup-simplify]: Simplify phi2 into phi2 15.438 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.439 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0 15.439 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.439 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2) 15.439 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.439 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 15.439 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 15.439 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.439 * [backup-simplify]: Simplify 0 into 0 15.439 * [backup-simplify]: Simplify 1 into 1 15.439 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.439 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.439 * [backup-simplify]: Simplify phi1 into phi1 15.439 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.439 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 15.439 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.440 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 15.440 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.440 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2 15.440 * [taylor]: Taking taylor expansion of 2 in lambda2 15.440 * [backup-simplify]: Simplify 2 into 2 15.440 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2 15.440 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2 15.440 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.440 * [backup-simplify]: Simplify 0 into 0 15.440 * [backup-simplify]: Simplify 1 into 1 15.440 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 15.440 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.440 * [backup-simplify]: Simplify phi1 into phi1 15.440 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.440 * [backup-simplify]: Simplify phi2 into phi2 15.440 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.440 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0 15.440 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 15.440 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2) 15.440 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 15.440 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.441 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.441 * [taylor]: Taking taylor expansion of 0.5 in lambda2 15.441 * [backup-simplify]: Simplify 0.5 into 0.5 15.441 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.441 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.441 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.441 * [backup-simplify]: Simplify phi1 into phi1 15.441 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.441 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.441 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.441 * [backup-simplify]: Simplify phi2 into phi2 15.441 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.441 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.441 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.441 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.441 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.441 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 15.441 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 15.441 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 15.442 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 15.442 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.442 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.442 * [backup-simplify]: Simplify (- 0) into 0 15.442 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.443 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.443 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.443 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 15.443 * [taylor]: Taking taylor expansion of 1/2 in phi1 15.444 * [backup-simplify]: Simplify 1/2 into 1/2 15.444 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 15.444 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 15.444 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 15.444 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 15.444 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.444 * [taylor]: Taking taylor expansion of phi2 in phi1 15.444 * [backup-simplify]: Simplify phi2 into phi2 15.444 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.444 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.444 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 15.444 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.444 * [taylor]: Taking taylor expansion of phi1 in phi1 15.444 * [backup-simplify]: Simplify 0 into 0 15.444 * [backup-simplify]: Simplify 1 into 1 15.444 * [backup-simplify]: Simplify (* 1 1) into 1 15.445 * [backup-simplify]: Simplify (/ 1 1) into 1 15.445 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 15.445 * [taylor]: Taking taylor expansion of 2 in phi1 15.445 * [backup-simplify]: Simplify 2 into 2 15.445 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 15.445 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 15.445 * [taylor]: Taking taylor expansion of phi1 in phi1 15.445 * [backup-simplify]: Simplify 0 into 0 15.445 * [backup-simplify]: Simplify 1 into 1 15.445 * [taylor]: Taking taylor expansion of phi2 in phi1 15.445 * [backup-simplify]: Simplify phi2 into phi2 15.445 * [backup-simplify]: Simplify (* 0 phi2) into 0 15.445 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 15.446 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.446 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.446 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.446 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.446 * [backup-simplify]: Simplify 0.5 into 0.5 15.446 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.446 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.446 * [taylor]: Taking taylor expansion of phi1 in phi1 15.446 * [backup-simplify]: Simplify 0 into 0 15.446 * [backup-simplify]: Simplify 1 into 1 15.446 * [backup-simplify]: Simplify (/ 1 1) into 1 15.446 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.446 * [taylor]: Taking taylor expansion of phi2 in phi1 15.446 * [backup-simplify]: Simplify phi2 into phi2 15.446 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.447 * [backup-simplify]: Simplify (+ 1 0) into 1 15.447 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.447 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.448 * [backup-simplify]: Simplify (+ 0 1) into 1 15.448 * [backup-simplify]: Simplify (+ 1 0) into 1 15.448 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.449 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.450 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.450 * [backup-simplify]: Simplify (+ 0 0) into 0 15.450 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 15.450 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 15.450 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 15.451 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))) 15.451 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) 15.451 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2 15.451 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2 15.452 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2 15.452 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.452 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.452 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.452 * [backup-simplify]: Simplify 0.5 into 0.5 15.452 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.452 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.452 * [taylor]: Taking taylor expansion of phi1 in phi2 15.452 * [backup-simplify]: Simplify phi1 into phi1 15.452 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.452 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.452 * [taylor]: Taking taylor expansion of phi2 in phi2 15.452 * [backup-simplify]: Simplify 0 into 0 15.452 * [backup-simplify]: Simplify 1 into 1 15.452 * [backup-simplify]: Simplify (/ 1 1) into 1 15.453 * [backup-simplify]: Simplify (+ 0 1) into 1 15.453 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.453 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.453 * [taylor]: Taking taylor expansion of phi2 in phi2 15.453 * [backup-simplify]: Simplify 0 into 0 15.453 * [backup-simplify]: Simplify 1 into 1 15.454 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.454 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.454 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.455 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.455 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.455 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.455 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 15.456 * [taylor]: Taking taylor expansion of 1/2 in phi1 15.456 * [backup-simplify]: Simplify 1/2 into 1/2 15.456 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 15.456 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 15.456 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 15.456 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 15.456 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.456 * [taylor]: Taking taylor expansion of phi2 in phi1 15.456 * [backup-simplify]: Simplify phi2 into phi2 15.456 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.456 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.456 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 15.456 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.456 * [taylor]: Taking taylor expansion of phi1 in phi1 15.456 * [backup-simplify]: Simplify 0 into 0 15.456 * [backup-simplify]: Simplify 1 into 1 15.458 * [backup-simplify]: Simplify (* 1 1) into 1 15.459 * [backup-simplify]: Simplify (/ 1 1) into 1 15.459 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 15.459 * [taylor]: Taking taylor expansion of 2 in phi1 15.459 * [backup-simplify]: Simplify 2 into 2 15.459 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 15.459 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 15.459 * [taylor]: Taking taylor expansion of phi1 in phi1 15.459 * [backup-simplify]: Simplify 0 into 0 15.459 * [backup-simplify]: Simplify 1 into 1 15.459 * [taylor]: Taking taylor expansion of phi2 in phi1 15.459 * [backup-simplify]: Simplify phi2 into phi2 15.459 * [backup-simplify]: Simplify (* 0 phi2) into 0 15.460 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 15.460 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.460 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.460 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.460 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.460 * [backup-simplify]: Simplify 0.5 into 0.5 15.460 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.460 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.460 * [taylor]: Taking taylor expansion of phi1 in phi1 15.460 * [backup-simplify]: Simplify 0 into 0 15.460 * [backup-simplify]: Simplify 1 into 1 15.460 * [backup-simplify]: Simplify (/ 1 1) into 1 15.460 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.460 * [taylor]: Taking taylor expansion of phi2 in phi1 15.460 * [backup-simplify]: Simplify phi2 into phi2 15.460 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.461 * [backup-simplify]: Simplify (+ 1 0) into 1 15.461 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.461 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.462 * [backup-simplify]: Simplify (+ 0 1) into 1 15.462 * [backup-simplify]: Simplify (+ 1 0) into 1 15.462 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.463 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.464 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.464 * [backup-simplify]: Simplify (+ 0 0) into 0 15.464 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 15.464 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 15.464 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 15.465 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))) 15.466 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) 15.466 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2 15.466 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2 15.466 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2 15.466 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.466 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.466 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.466 * [backup-simplify]: Simplify 0.5 into 0.5 15.466 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.466 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.466 * [taylor]: Taking taylor expansion of phi1 in phi2 15.466 * [backup-simplify]: Simplify phi1 into phi1 15.466 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.466 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.466 * [taylor]: Taking taylor expansion of phi2 in phi2 15.466 * [backup-simplify]: Simplify 0 into 0 15.466 * [backup-simplify]: Simplify 1 into 1 15.466 * [backup-simplify]: Simplify (/ 1 1) into 1 15.467 * [backup-simplify]: Simplify (+ 0 1) into 1 15.467 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.467 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.467 * [taylor]: Taking taylor expansion of phi2 in phi2 15.467 * [backup-simplify]: Simplify 0 into 0 15.468 * [backup-simplify]: Simplify 1 into 1 15.468 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.468 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.468 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.469 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.469 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.470 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.471 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 15.471 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.471 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.471 * [backup-simplify]: Simplify (+ 0 0) into 0 15.472 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 15.473 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.474 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 15.474 * [backup-simplify]: Simplify (- 0) into 0 15.474 * [backup-simplify]: Simplify (+ 0 0) into 0 15.476 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 15.477 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 15.477 * [taylor]: Taking taylor expansion of 0 in phi1 15.477 * [backup-simplify]: Simplify 0 into 0 15.478 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.479 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 15.479 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.479 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.480 * [backup-simplify]: Simplify (+ 0 0) into 0 15.481 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 15.481 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.482 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 15.482 * [backup-simplify]: Simplify (- 0) into 0 15.483 * [backup-simplify]: Simplify (+ 0 0) into 0 15.483 * [taylor]: Taking taylor expansion of 0 in phi1 15.483 * [backup-simplify]: Simplify 0 into 0 15.483 * [taylor]: Taking taylor expansion of 0 in phi2 15.483 * [backup-simplify]: Simplify 0 into 0 15.483 * [taylor]: Taking taylor expansion of 0 in phi2 15.483 * [backup-simplify]: Simplify 0 into 0 15.483 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.483 * [taylor]: Taking taylor expansion of 0 in phi2 15.483 * [backup-simplify]: Simplify 0 into 0 15.483 * [taylor]: Taking taylor expansion of 0 in phi2 15.483 * [backup-simplify]: Simplify 0 into 0 15.483 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.484 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.485 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1)))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2))))))) into (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2)))))) 15.486 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (* (* (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))))) (cbrt (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 15.486 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 15.486 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi2 15.486 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi2 15.486 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in phi2 15.486 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 15.486 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 15.486 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.486 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.486 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.486 * [backup-simplify]: Simplify -0.5 into -0.5 15.486 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.486 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.486 * [taylor]: Taking taylor expansion of phi1 in phi2 15.486 * [backup-simplify]: Simplify phi1 into phi1 15.486 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.486 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.486 * [taylor]: Taking taylor expansion of phi2 in phi2 15.486 * [backup-simplify]: Simplify 0 into 0 15.486 * [backup-simplify]: Simplify 1 into 1 15.487 * [backup-simplify]: Simplify (/ 1 1) into 1 15.487 * [backup-simplify]: Simplify (+ 0 1) into 1 15.487 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.487 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.487 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 15.488 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.488 * [backup-simplify]: Simplify lambda2 into lambda2 15.488 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.488 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.488 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 15.488 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in phi2 15.488 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 15.488 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 15.488 * [taylor]: Taking taylor expansion of phi1 in phi2 15.488 * [backup-simplify]: Simplify phi1 into phi1 15.488 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.488 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.488 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in phi2 15.488 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 15.488 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 15.488 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.488 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.489 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.489 * [backup-simplify]: Simplify -0.5 into -0.5 15.489 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.489 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.489 * [taylor]: Taking taylor expansion of phi1 in phi2 15.489 * [backup-simplify]: Simplify phi1 into phi1 15.489 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.489 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.489 * [taylor]: Taking taylor expansion of phi2 in phi2 15.489 * [backup-simplify]: Simplify 0 into 0 15.489 * [backup-simplify]: Simplify 1 into 1 15.489 * [backup-simplify]: Simplify (/ 1 1) into 1 15.489 * [backup-simplify]: Simplify (+ 0 1) into 1 15.489 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.490 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.490 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 15.490 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.490 * [backup-simplify]: Simplify lambda1 into lambda1 15.490 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.490 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.490 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 15.490 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 15.490 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 15.490 * [taylor]: Taking taylor expansion of phi2 in phi2 15.490 * [backup-simplify]: Simplify 0 into 0 15.490 * [backup-simplify]: Simplify 1 into 1 15.490 * [backup-simplify]: Simplify (* 1 1) into 1 15.491 * [backup-simplify]: Simplify (/ 1 1) into 1 15.491 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 15.491 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2 15.491 * [taylor]: Taking taylor expansion of 2 in phi2 15.491 * [backup-simplify]: Simplify 2 into 2 15.491 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2 15.491 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 15.491 * [taylor]: Taking taylor expansion of phi1 in phi2 15.491 * [backup-simplify]: Simplify phi1 into phi1 15.491 * [taylor]: Taking taylor expansion of phi2 in phi2 15.491 * [backup-simplify]: Simplify 0 into 0 15.491 * [backup-simplify]: Simplify 1 into 1 15.491 * [backup-simplify]: Simplify (* phi1 0) into 0 15.491 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 15.491 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.491 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 15.491 * [taylor]: Taking taylor expansion of 2 in phi2 15.491 * [backup-simplify]: Simplify 2 into 2 15.491 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 15.491 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 15.491 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.491 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.491 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.491 * [backup-simplify]: Simplify -0.5 into -0.5 15.491 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.491 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.491 * [taylor]: Taking taylor expansion of phi1 in phi2 15.491 * [backup-simplify]: Simplify phi1 into phi1 15.491 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.491 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.491 * [taylor]: Taking taylor expansion of phi2 in phi2 15.491 * [backup-simplify]: Simplify 0 into 0 15.492 * [backup-simplify]: Simplify 1 into 1 15.492 * [backup-simplify]: Simplify (/ 1 1) into 1 15.492 * [backup-simplify]: Simplify (+ 0 1) into 1 15.493 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.493 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.493 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 15.493 * [taylor]: Taking taylor expansion of lambda2 in phi2 15.493 * [backup-simplify]: Simplify lambda2 into lambda2 15.493 * [taylor]: Taking taylor expansion of lambda1 in phi2 15.493 * [backup-simplify]: Simplify lambda1 into lambda1 15.493 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.493 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.493 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 15.494 * [backup-simplify]: Simplify (+ 0 1) into 1 15.494 * [backup-simplify]: Simplify (+ 0 1) into 1 15.494 * [backup-simplify]: Simplify (+ 0 1) into 1 15.494 * [backup-simplify]: Simplify (+ 1 0) into 1 15.495 * [backup-simplify]: Simplify (sqrt 1) into 1 15.495 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.496 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.496 * [backup-simplify]: Simplify (+ 0 0) into 0 15.496 * [backup-simplify]: Simplify (+ 0 0) into 0 15.496 * [backup-simplify]: Simplify (+ 0 0) into 0 15.496 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 15.496 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 15.496 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 15.497 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 15.497 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 15.497 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1 15.497 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 15.497 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in phi1 15.497 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 15.497 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 15.497 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.497 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.497 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.497 * [backup-simplify]: Simplify -0.5 into -0.5 15.497 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.497 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.497 * [taylor]: Taking taylor expansion of phi1 in phi1 15.497 * [backup-simplify]: Simplify 0 into 0 15.497 * [backup-simplify]: Simplify 1 into 1 15.497 * [backup-simplify]: Simplify (/ 1 1) into 1 15.497 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.497 * [taylor]: Taking taylor expansion of phi2 in phi1 15.497 * [backup-simplify]: Simplify phi2 into phi2 15.498 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.498 * [backup-simplify]: Simplify (+ 1 0) into 1 15.498 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.498 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.498 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 15.498 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.498 * [backup-simplify]: Simplify lambda2 into lambda2 15.498 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.498 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.499 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 15.499 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in phi1 15.499 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 15.499 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.499 * [taylor]: Taking taylor expansion of phi1 in phi1 15.499 * [backup-simplify]: Simplify 0 into 0 15.499 * [backup-simplify]: Simplify 1 into 1 15.499 * [backup-simplify]: Simplify (* 1 1) into 1 15.499 * [backup-simplify]: Simplify (/ 1 1) into 1 15.499 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in phi1 15.499 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 15.499 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 15.499 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.499 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.499 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.499 * [backup-simplify]: Simplify -0.5 into -0.5 15.499 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.499 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.500 * [taylor]: Taking taylor expansion of phi1 in phi1 15.500 * [backup-simplify]: Simplify 0 into 0 15.500 * [backup-simplify]: Simplify 1 into 1 15.500 * [backup-simplify]: Simplify (/ 1 1) into 1 15.500 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.500 * [taylor]: Taking taylor expansion of phi2 in phi1 15.500 * [backup-simplify]: Simplify phi2 into phi2 15.500 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.500 * [backup-simplify]: Simplify (+ 1 0) into 1 15.500 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.501 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.501 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 15.501 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.501 * [backup-simplify]: Simplify lambda1 into lambda1 15.501 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.501 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.501 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 15.501 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 15.501 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.501 * [taylor]: Taking taylor expansion of phi2 in phi1 15.501 * [backup-simplify]: Simplify phi2 into phi2 15.501 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.501 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.501 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 15.501 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 15.501 * [taylor]: Taking taylor expansion of 2 in phi1 15.501 * [backup-simplify]: Simplify 2 into 2 15.501 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 15.501 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 15.501 * [taylor]: Taking taylor expansion of phi1 in phi1 15.501 * [backup-simplify]: Simplify 0 into 0 15.501 * [backup-simplify]: Simplify 1 into 1 15.501 * [taylor]: Taking taylor expansion of phi2 in phi1 15.501 * [backup-simplify]: Simplify phi2 into phi2 15.501 * [backup-simplify]: Simplify (* 0 phi2) into 0 15.502 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 15.502 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.502 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 15.502 * [taylor]: Taking taylor expansion of 2 in phi1 15.502 * [backup-simplify]: Simplify 2 into 2 15.502 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 15.502 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 15.502 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.502 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.502 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.502 * [backup-simplify]: Simplify -0.5 into -0.5 15.502 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.502 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.502 * [taylor]: Taking taylor expansion of phi1 in phi1 15.502 * [backup-simplify]: Simplify 0 into 0 15.502 * [backup-simplify]: Simplify 1 into 1 15.502 * [backup-simplify]: Simplify (/ 1 1) into 1 15.502 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.502 * [taylor]: Taking taylor expansion of phi2 in phi1 15.502 * [backup-simplify]: Simplify phi2 into phi2 15.503 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.503 * [backup-simplify]: Simplify (+ 1 0) into 1 15.503 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.504 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.504 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 15.504 * [taylor]: Taking taylor expansion of lambda2 in phi1 15.504 * [backup-simplify]: Simplify lambda2 into lambda2 15.504 * [taylor]: Taking taylor expansion of lambda1 in phi1 15.504 * [backup-simplify]: Simplify lambda1 into lambda1 15.504 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.504 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 15.504 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 15.505 * [backup-simplify]: Simplify (+ 1 0) into 1 15.505 * [backup-simplify]: Simplify (+ 0 1) into 1 15.506 * [backup-simplify]: Simplify (+ 1 0) into 1 15.506 * [backup-simplify]: Simplify (sqrt 1) into 1 15.507 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.507 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.508 * [backup-simplify]: Simplify (+ 0 0) into 0 15.508 * [backup-simplify]: Simplify (+ 0 0) into 0 15.508 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 15.508 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 15.508 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 15.508 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 15.509 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 15.509 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2 15.509 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2 15.509 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda2 15.509 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 15.509 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 15.509 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.509 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.509 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.509 * [backup-simplify]: Simplify -0.5 into -0.5 15.509 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.509 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.509 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.509 * [backup-simplify]: Simplify phi1 into phi1 15.509 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.510 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.510 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.510 * [backup-simplify]: Simplify phi2 into phi2 15.510 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.510 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.510 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.510 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.510 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.510 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.511 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.511 * [backup-simplify]: Simplify (- 0) into 0 15.511 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.511 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 15.511 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.511 * [backup-simplify]: Simplify 0 into 0 15.511 * [backup-simplify]: Simplify 1 into 1 15.512 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.512 * [backup-simplify]: Simplify (* 1 1) into 1 15.512 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.512 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda2 15.512 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 15.512 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.512 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.512 * [backup-simplify]: Simplify phi1 into phi1 15.513 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.513 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.513 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda2 15.513 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 15.513 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 15.513 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.513 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.513 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.513 * [backup-simplify]: Simplify -0.5 into -0.5 15.513 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.513 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.513 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.513 * [backup-simplify]: Simplify phi1 into phi1 15.513 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.513 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.513 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.513 * [backup-simplify]: Simplify phi2 into phi2 15.513 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.513 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.513 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.514 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.514 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.514 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.514 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.514 * [backup-simplify]: Simplify (- 0) into 0 15.515 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.515 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 15.515 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.515 * [backup-simplify]: Simplify lambda1 into lambda1 15.515 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.515 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 15.516 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 15.516 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 15.516 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.516 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.516 * [backup-simplify]: Simplify phi2 into phi2 15.516 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.516 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.516 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 15.516 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 15.516 * [taylor]: Taking taylor expansion of 2 in lambda2 15.516 * [backup-simplify]: Simplify 2 into 2 15.516 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 15.516 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 15.516 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.516 * [backup-simplify]: Simplify phi1 into phi1 15.516 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.516 * [backup-simplify]: Simplify phi2 into phi2 15.516 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.516 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 15.516 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 15.516 * [taylor]: Taking taylor expansion of 2 in lambda2 15.516 * [backup-simplify]: Simplify 2 into 2 15.516 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 15.516 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 15.516 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.517 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.517 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.517 * [backup-simplify]: Simplify -0.5 into -0.5 15.517 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.517 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.517 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.517 * [backup-simplify]: Simplify phi1 into phi1 15.517 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.517 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.517 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.517 * [backup-simplify]: Simplify phi2 into phi2 15.517 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.517 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.517 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.517 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.517 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.518 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.518 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.518 * [backup-simplify]: Simplify (- 0) into 0 15.518 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.519 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 15.519 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.519 * [backup-simplify]: Simplify 0 into 0 15.519 * [backup-simplify]: Simplify 1 into 1 15.519 * [taylor]: Taking taylor expansion of lambda1 in lambda2 15.519 * [backup-simplify]: Simplify lambda1 into lambda1 15.519 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.519 * [backup-simplify]: Simplify (* 0 lambda1) into 0 15.519 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 15.520 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 15.520 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.520 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.521 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.521 * [backup-simplify]: Simplify (+ 0) into 0 15.522 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.522 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.522 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.522 * [backup-simplify]: Simplify (+ 0 0) into 0 15.523 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.523 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.524 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.524 * [backup-simplify]: Simplify (- 0) into 0 15.525 * [backup-simplify]: Simplify (+ 0 0) into 0 15.525 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.526 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.527 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 15.527 * [backup-simplify]: Simplify (+ 0 0) into 0 15.528 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 15.528 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 15.528 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 15.529 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 15.530 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 15.530 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 15.530 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 15.530 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda1 15.530 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 15.530 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.530 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.530 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.530 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.530 * [backup-simplify]: Simplify -0.5 into -0.5 15.530 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.530 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.530 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.530 * [backup-simplify]: Simplify phi1 into phi1 15.530 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.530 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.530 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.530 * [backup-simplify]: Simplify phi2 into phi2 15.530 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.530 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.530 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.531 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.531 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.531 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.531 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.532 * [backup-simplify]: Simplify (- 0) into 0 15.532 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.532 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.532 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.532 * [backup-simplify]: Simplify lambda2 into lambda2 15.532 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.532 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.533 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 15.533 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda1 15.533 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 15.533 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 15.533 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.533 * [backup-simplify]: Simplify phi1 into phi1 15.533 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.533 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.533 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda1 15.533 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 15.533 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.533 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.533 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.533 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.533 * [backup-simplify]: Simplify -0.5 into -0.5 15.533 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.533 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.533 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.533 * [backup-simplify]: Simplify phi1 into phi1 15.533 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.533 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.534 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.534 * [backup-simplify]: Simplify phi2 into phi2 15.534 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.534 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.534 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.534 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.534 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.534 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.535 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.535 * [backup-simplify]: Simplify (- 0) into 0 15.535 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.535 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.535 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.535 * [backup-simplify]: Simplify 0 into 0 15.535 * [backup-simplify]: Simplify 1 into 1 15.536 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.536 * [backup-simplify]: Simplify (* 1 1) into 1 15.536 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.536 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 15.536 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 15.536 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.536 * [backup-simplify]: Simplify phi2 into phi2 15.537 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.537 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.537 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 15.537 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 15.537 * [taylor]: Taking taylor expansion of 2 in lambda1 15.537 * [backup-simplify]: Simplify 2 into 2 15.537 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 15.537 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 15.537 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.537 * [backup-simplify]: Simplify phi1 into phi1 15.537 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.537 * [backup-simplify]: Simplify phi2 into phi2 15.537 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.537 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 15.537 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 15.537 * [taylor]: Taking taylor expansion of 2 in lambda1 15.537 * [backup-simplify]: Simplify 2 into 2 15.537 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 15.537 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.537 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.537 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.537 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.537 * [backup-simplify]: Simplify -0.5 into -0.5 15.537 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.537 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.537 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.537 * [backup-simplify]: Simplify phi1 into phi1 15.537 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.537 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.537 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.538 * [backup-simplify]: Simplify phi2 into phi2 15.538 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.538 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.538 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.538 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.538 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.538 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.538 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.539 * [backup-simplify]: Simplify (- 0) into 0 15.539 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.539 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.539 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.539 * [backup-simplify]: Simplify lambda2 into lambda2 15.539 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.539 * [backup-simplify]: Simplify 0 into 0 15.539 * [backup-simplify]: Simplify 1 into 1 15.540 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.540 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.540 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.540 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 15.541 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.541 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.541 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.542 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.542 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.543 * [backup-simplify]: Simplify (+ 0) into 0 15.544 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.544 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.544 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.544 * [backup-simplify]: Simplify (+ 0 0) into 0 15.545 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.546 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.546 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.547 * [backup-simplify]: Simplify (- 0) into 0 15.547 * [backup-simplify]: Simplify (+ 0 0) into 0 15.547 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.548 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.550 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 15.550 * [backup-simplify]: Simplify (+ 0 0) into 0 15.551 * [backup-simplify]: Simplify (+ 0 0) into 0 15.551 * [backup-simplify]: Simplify (+ 0 0) into 0 15.551 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 15.552 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 15.552 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 15.553 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 15.553 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 15.553 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 15.554 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 15.554 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda1 15.554 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 15.554 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.554 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.554 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.554 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.554 * [backup-simplify]: Simplify -0.5 into -0.5 15.554 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.554 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.554 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.554 * [backup-simplify]: Simplify phi1 into phi1 15.554 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.554 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.554 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.554 * [backup-simplify]: Simplify phi2 into phi2 15.554 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.554 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.554 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.554 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.555 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.555 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.555 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.556 * [backup-simplify]: Simplify (- 0) into 0 15.556 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.556 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 15.556 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.556 * [backup-simplify]: Simplify lambda2 into lambda2 15.556 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.556 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 15.557 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 15.557 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda1 15.557 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 15.557 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 15.557 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.557 * [backup-simplify]: Simplify phi1 into phi1 15.557 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.557 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.557 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda1 15.557 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 15.557 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.557 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.557 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.557 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.557 * [backup-simplify]: Simplify -0.5 into -0.5 15.557 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.557 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.557 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.557 * [backup-simplify]: Simplify phi1 into phi1 15.557 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.557 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.557 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.557 * [backup-simplify]: Simplify phi2 into phi2 15.557 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.558 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.558 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.558 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.558 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.558 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.559 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.559 * [backup-simplify]: Simplify (- 0) into 0 15.559 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.559 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 15.559 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.559 * [backup-simplify]: Simplify 0 into 0 15.559 * [backup-simplify]: Simplify 1 into 1 15.560 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.560 * [backup-simplify]: Simplify (* 1 1) into 1 15.560 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.560 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 15.560 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 15.560 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.561 * [backup-simplify]: Simplify phi2 into phi2 15.561 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.561 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.561 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 15.561 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 15.561 * [taylor]: Taking taylor expansion of 2 in lambda1 15.561 * [backup-simplify]: Simplify 2 into 2 15.561 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 15.561 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 15.561 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.561 * [backup-simplify]: Simplify phi1 into phi1 15.561 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.561 * [backup-simplify]: Simplify phi2 into phi2 15.561 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.561 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 15.561 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 15.561 * [taylor]: Taking taylor expansion of 2 in lambda1 15.561 * [backup-simplify]: Simplify 2 into 2 15.561 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 15.561 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 15.561 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 15.561 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 15.561 * [taylor]: Taking taylor expansion of -0.5 in lambda1 15.561 * [backup-simplify]: Simplify -0.5 into -0.5 15.561 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 15.561 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 15.561 * [taylor]: Taking taylor expansion of phi1 in lambda1 15.561 * [backup-simplify]: Simplify phi1 into phi1 15.562 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.562 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 15.562 * [taylor]: Taking taylor expansion of phi2 in lambda1 15.562 * [backup-simplify]: Simplify phi2 into phi2 15.562 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.562 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.562 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.562 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.562 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.562 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.563 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.563 * [backup-simplify]: Simplify (- 0) into 0 15.563 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.563 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 15.563 * [taylor]: Taking taylor expansion of lambda2 in lambda1 15.563 * [backup-simplify]: Simplify lambda2 into lambda2 15.563 * [taylor]: Taking taylor expansion of lambda1 in lambda1 15.563 * [backup-simplify]: Simplify 0 into 0 15.563 * [backup-simplify]: Simplify 1 into 1 15.564 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.564 * [backup-simplify]: Simplify (* lambda2 0) into 0 15.564 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 15.565 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 15.565 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.565 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.565 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.566 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 15.566 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.566 * [backup-simplify]: Simplify (+ 0) into 0 15.567 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.567 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.567 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.568 * [backup-simplify]: Simplify (+ 0 0) into 0 15.568 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.570 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.570 * [backup-simplify]: Simplify (- 0) into 0 15.570 * [backup-simplify]: Simplify (+ 0 0) into 0 15.571 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.571 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.572 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 15.573 * [backup-simplify]: Simplify (+ 0 0) into 0 15.573 * [backup-simplify]: Simplify (+ 0 0) into 0 15.573 * [backup-simplify]: Simplify (+ 0 0) into 0 15.574 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 15.574 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 15.575 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 15.575 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 15.576 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 15.576 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.576 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.576 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.576 * [backup-simplify]: Simplify -0.5 into -0.5 15.576 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.576 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.576 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.576 * [backup-simplify]: Simplify phi1 into phi1 15.576 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.576 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.576 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.576 * [backup-simplify]: Simplify phi2 into phi2 15.576 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.576 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.577 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.577 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.577 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.577 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 15.577 * [taylor]: Taking taylor expansion of -1 in lambda2 15.577 * [backup-simplify]: Simplify -1 into -1 15.577 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 15.577 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.577 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.577 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.577 * [backup-simplify]: Simplify -0.5 into -0.5 15.577 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.577 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.577 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.577 * [backup-simplify]: Simplify phi1 into phi1 15.577 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.577 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.577 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.577 * [backup-simplify]: Simplify phi2 into phi2 15.577 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.578 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.578 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.578 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.578 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.578 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.578 * [backup-simplify]: Simplify 0 into 0 15.578 * [backup-simplify]: Simplify 1 into 1 15.578 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.578 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.579 * [backup-simplify]: Simplify (- 0) into 0 15.579 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.579 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.580 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.580 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 15.580 * [taylor]: Taking taylor expansion of -1 in phi1 15.580 * [backup-simplify]: Simplify -1 into -1 15.580 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.580 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.580 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.580 * [backup-simplify]: Simplify -0.5 into -0.5 15.580 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.580 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.580 * [taylor]: Taking taylor expansion of phi1 in phi1 15.580 * [backup-simplify]: Simplify 0 into 0 15.580 * [backup-simplify]: Simplify 1 into 1 15.580 * [backup-simplify]: Simplify (/ 1 1) into 1 15.580 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.580 * [taylor]: Taking taylor expansion of phi2 in phi1 15.580 * [backup-simplify]: Simplify phi2 into phi2 15.580 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.581 * [backup-simplify]: Simplify (+ 1 0) into 1 15.581 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.581 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.582 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.582 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.582 * [backup-simplify]: Simplify (- 0) into 0 15.582 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.582 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.582 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.583 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.583 * [backup-simplify]: Simplify -0.5 into -0.5 15.583 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.583 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.583 * [taylor]: Taking taylor expansion of phi1 in phi1 15.583 * [backup-simplify]: Simplify 0 into 0 15.583 * [backup-simplify]: Simplify 1 into 1 15.583 * [backup-simplify]: Simplify (/ 1 1) into 1 15.583 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.583 * [taylor]: Taking taylor expansion of phi2 in phi1 15.583 * [backup-simplify]: Simplify phi2 into phi2 15.583 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.584 * [backup-simplify]: Simplify (+ 1 0) into 1 15.584 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.584 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.585 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.586 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 15.586 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.586 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.587 * [backup-simplify]: Simplify (+ 0 0) into 0 15.588 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 15.588 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.589 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 15.589 * [backup-simplify]: Simplify (- 0) into 0 15.590 * [backup-simplify]: Simplify (+ 0 0) into 0 15.590 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 15.591 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 15.593 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 15.594 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi2 2))) into (/ 1 (pow phi2 2)) 15.594 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 15.595 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) 15.595 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 15.595 * [backup-simplify]: Simplify (+ 0) into 0 15.596 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.596 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.596 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.596 * [backup-simplify]: Simplify (+ 0 0) into 0 15.596 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.597 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.597 * [backup-simplify]: Simplify (- 0) into 0 15.598 * [backup-simplify]: Simplify (+ 0 0) into 0 15.598 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.598 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 15.599 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 15.599 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 15.599 * [backup-simplify]: Simplify (+ (/ 2 (* phi1 phi2)) 0) into (* 2 (/ 1 (* phi1 phi2))) 15.599 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi1 phi2)))) into (- (* 2 (/ 1 (* phi1 phi2)))) 15.600 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) 15.602 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.602 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 15.602 * [taylor]: Taking taylor expansion of 1/2 in lambda2 15.602 * [backup-simplify]: Simplify 1/2 into 1/2 15.602 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 15.602 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2 15.603 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 15.603 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 15.603 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.603 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.603 * [backup-simplify]: Simplify phi2 into phi2 15.603 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.603 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.603 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 15.603 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.603 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.603 * [backup-simplify]: Simplify phi1 into phi1 15.603 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.603 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.603 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 15.603 * [taylor]: Taking taylor expansion of 2 in lambda2 15.603 * [backup-simplify]: Simplify 2 into 2 15.603 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 15.603 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 15.603 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.603 * [backup-simplify]: Simplify phi1 into phi1 15.603 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.603 * [backup-simplify]: Simplify phi2 into phi2 15.603 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.603 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 15.603 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.603 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.603 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.603 * [backup-simplify]: Simplify -0.5 into -0.5 15.603 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.603 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.603 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.603 * [backup-simplify]: Simplify phi1 into phi1 15.603 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.603 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.603 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.603 * [backup-simplify]: Simplify phi2 into phi2 15.603 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.603 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.604 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.604 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.604 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.604 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 15.604 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 15.604 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 15.604 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 15.604 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.604 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.605 * [backup-simplify]: Simplify (- 0) into 0 15.605 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.605 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.606 * [backup-simplify]: Simplify (+ 0) into 0 15.606 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.606 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.606 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.607 * [backup-simplify]: Simplify (+ 0 0) into 0 15.607 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.607 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.608 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.608 * [backup-simplify]: Simplify (- 0) into 0 15.608 * [backup-simplify]: Simplify (+ 0 0) into 0 15.609 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 15.609 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.609 * [taylor]: Taking taylor expansion of 0 in phi1 15.609 * [backup-simplify]: Simplify 0 into 0 15.609 * [backup-simplify]: Simplify (+ 0) into 0 15.610 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.610 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.610 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.610 * [backup-simplify]: Simplify (+ 0 0) into 0 15.611 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.611 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.611 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.612 * [backup-simplify]: Simplify (- 0) into 0 15.612 * [backup-simplify]: Simplify (+ 0 0) into 0 15.612 * [taylor]: Taking taylor expansion of 0 in phi1 15.612 * [backup-simplify]: Simplify 0 into 0 15.612 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.612 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 15.612 * [taylor]: Taking taylor expansion of -1 in phi2 15.612 * [backup-simplify]: Simplify -1 into -1 15.612 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.612 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.612 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.612 * [backup-simplify]: Simplify -0.5 into -0.5 15.612 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.612 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.612 * [taylor]: Taking taylor expansion of phi1 in phi2 15.612 * [backup-simplify]: Simplify phi1 into phi1 15.612 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.612 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.612 * [taylor]: Taking taylor expansion of phi2 in phi2 15.612 * [backup-simplify]: Simplify 0 into 0 15.612 * [backup-simplify]: Simplify 1 into 1 15.613 * [backup-simplify]: Simplify (/ 1 1) into 1 15.613 * [backup-simplify]: Simplify (+ 0 1) into 1 15.613 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.613 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.613 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.613 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.613 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.613 * [backup-simplify]: Simplify -0.5 into -0.5 15.613 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.613 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.613 * [taylor]: Taking taylor expansion of phi1 in phi2 15.613 * [backup-simplify]: Simplify phi1 into phi1 15.613 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.613 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.613 * [taylor]: Taking taylor expansion of phi2 in phi2 15.613 * [backup-simplify]: Simplify 0 into 0 15.613 * [backup-simplify]: Simplify 1 into 1 15.614 * [backup-simplify]: Simplify (/ 1 1) into 1 15.614 * [backup-simplify]: Simplify (+ 0 1) into 1 15.614 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.614 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.615 * [backup-simplify]: Simplify (+ 0) into 0 15.615 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 15.615 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 15.615 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 15.615 * [backup-simplify]: Simplify (+ 0 0) into 0 15.616 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 15.616 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 15.617 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 15.617 * [backup-simplify]: Simplify (- 0) into 0 15.617 * [backup-simplify]: Simplify (+ 0 0) into 0 15.617 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.617 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 15.618 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 15.618 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.618 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 15.618 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 15.619 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 15.619 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.619 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.620 * [backup-simplify]: Simplify (+ 0 0) into 0 15.620 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.621 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 15.622 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 15.622 * [backup-simplify]: Simplify (- 0) into 0 15.622 * [backup-simplify]: Simplify (+ 0 0) into 0 15.623 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 15.623 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 15.625 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 15.625 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.625 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 15.625 * [backup-simplify]: Simplify (+ 0 0) into 0 15.625 * [backup-simplify]: Simplify (+ 0 0) into 0 15.626 * [backup-simplify]: Simplify (+ 0 0) into 0 15.626 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 15.626 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi1 phi2)) (/ 0 (* phi1 phi2))))) into 0 15.626 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi1 phi2)))) into 0 15.627 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.627 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 15.627 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.628 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.628 * [backup-simplify]: Simplify (+ 0 0) into 0 15.628 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 15.629 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.629 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 15.629 * [backup-simplify]: Simplify (- 0) into 0 15.630 * [backup-simplify]: Simplify (+ 0 0) into 0 15.630 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 15.631 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 15.631 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 15.632 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 15.632 * [backup-simplify]: Simplify (+ 0 0) into 0 15.632 * [backup-simplify]: Simplify (- 0) into 0 15.632 * [backup-simplify]: Simplify (+ 0 0) into 0 15.634 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.634 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 15.634 * [taylor]: Taking taylor expansion of 1/2 in lambda2 15.634 * [backup-simplify]: Simplify 1/2 into 1/2 15.634 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 15.634 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2 15.634 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2 15.634 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2 15.634 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2 15.634 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.634 * [backup-simplify]: Simplify 0 into 0 15.634 * [backup-simplify]: Simplify 1 into 1 15.634 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 15.634 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.634 * [backup-simplify]: Simplify phi2 into phi2 15.634 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.634 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0 15.634 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 15.634 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2) 15.634 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.634 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 15.635 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 15.635 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.635 * [backup-simplify]: Simplify 0 into 0 15.635 * [backup-simplify]: Simplify 1 into 1 15.635 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 15.635 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.635 * [backup-simplify]: Simplify phi1 into phi1 15.635 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 15.635 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 15.635 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 15.635 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 15.635 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 15.635 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2 15.635 * [taylor]: Taking taylor expansion of 2 in lambda2 15.635 * [backup-simplify]: Simplify 2 into 2 15.635 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2 15.635 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2 15.635 * [taylor]: Taking taylor expansion of lambda2 in lambda2 15.635 * [backup-simplify]: Simplify 0 into 0 15.635 * [backup-simplify]: Simplify 1 into 1 15.635 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 15.635 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.635 * [backup-simplify]: Simplify phi1 into phi1 15.635 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.635 * [backup-simplify]: Simplify phi2 into phi2 15.635 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 15.636 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0 15.636 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 15.636 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2) 15.636 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 15.636 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 15.636 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 15.636 * [taylor]: Taking taylor expansion of -0.5 in lambda2 15.636 * [backup-simplify]: Simplify -0.5 into -0.5 15.636 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 15.636 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 15.636 * [taylor]: Taking taylor expansion of phi1 in lambda2 15.636 * [backup-simplify]: Simplify phi1 into phi1 15.636 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.636 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 15.636 * [taylor]: Taking taylor expansion of phi2 in lambda2 15.636 * [backup-simplify]: Simplify phi2 into phi2 15.636 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.636 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 15.636 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 15.636 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.636 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.637 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 15.637 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 15.637 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 15.637 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 15.637 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.637 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 15.638 * [backup-simplify]: Simplify (- 0) into 0 15.638 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.638 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.638 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.638 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 15.638 * [taylor]: Taking taylor expansion of 1/2 in phi1 15.638 * [backup-simplify]: Simplify 1/2 into 1/2 15.638 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 15.639 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 15.639 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 15.639 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 15.639 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.639 * [taylor]: Taking taylor expansion of phi2 in phi1 15.639 * [backup-simplify]: Simplify phi2 into phi2 15.639 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.639 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.639 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 15.639 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.639 * [taylor]: Taking taylor expansion of phi1 in phi1 15.639 * [backup-simplify]: Simplify 0 into 0 15.639 * [backup-simplify]: Simplify 1 into 1 15.639 * [backup-simplify]: Simplify (* 1 1) into 1 15.639 * [backup-simplify]: Simplify (/ 1 1) into 1 15.639 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 15.639 * [taylor]: Taking taylor expansion of 2 in phi1 15.639 * [backup-simplify]: Simplify 2 into 2 15.639 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 15.639 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 15.640 * [taylor]: Taking taylor expansion of phi1 in phi1 15.640 * [backup-simplify]: Simplify 0 into 0 15.640 * [backup-simplify]: Simplify 1 into 1 15.640 * [taylor]: Taking taylor expansion of phi2 in phi1 15.640 * [backup-simplify]: Simplify phi2 into phi2 15.640 * [backup-simplify]: Simplify (* 0 phi2) into 0 15.640 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 15.640 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.640 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.640 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.640 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.640 * [backup-simplify]: Simplify -0.5 into -0.5 15.640 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.640 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.640 * [taylor]: Taking taylor expansion of phi1 in phi1 15.640 * [backup-simplify]: Simplify 0 into 0 15.640 * [backup-simplify]: Simplify 1 into 1 15.640 * [backup-simplify]: Simplify (/ 1 1) into 1 15.640 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.640 * [taylor]: Taking taylor expansion of phi2 in phi1 15.640 * [backup-simplify]: Simplify phi2 into phi2 15.640 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.641 * [backup-simplify]: Simplify (+ 1 0) into 1 15.641 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.641 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.641 * [backup-simplify]: Simplify (+ 0 1) into 1 15.642 * [backup-simplify]: Simplify (+ 1 0) into 1 15.642 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.642 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.643 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.643 * [backup-simplify]: Simplify (+ 0 0) into 0 15.643 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 15.643 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 15.643 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 15.644 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 15.644 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 15.644 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 15.644 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 15.644 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 15.644 * [taylor]: Taking taylor expansion of phi2 in phi2 15.644 * [backup-simplify]: Simplify 0 into 0 15.644 * [backup-simplify]: Simplify 1 into 1 15.644 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.644 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.644 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.644 * [backup-simplify]: Simplify -0.5 into -0.5 15.644 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.644 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.644 * [taylor]: Taking taylor expansion of phi1 in phi2 15.644 * [backup-simplify]: Simplify phi1 into phi1 15.644 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.644 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.644 * [taylor]: Taking taylor expansion of phi2 in phi2 15.644 * [backup-simplify]: Simplify 0 into 0 15.644 * [backup-simplify]: Simplify 1 into 1 15.645 * [backup-simplify]: Simplify (/ 1 1) into 1 15.645 * [backup-simplify]: Simplify (+ 0 1) into 1 15.645 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.645 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.645 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 15.646 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.646 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.646 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.646 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.646 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.647 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 15.647 * [taylor]: Taking taylor expansion of 1/2 in phi1 15.647 * [backup-simplify]: Simplify 1/2 into 1/2 15.647 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 15.647 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 15.647 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 15.647 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 15.647 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 15.647 * [taylor]: Taking taylor expansion of phi2 in phi1 15.647 * [backup-simplify]: Simplify phi2 into phi2 15.647 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 15.647 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 15.647 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 15.647 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 15.647 * [taylor]: Taking taylor expansion of phi1 in phi1 15.647 * [backup-simplify]: Simplify 0 into 0 15.647 * [backup-simplify]: Simplify 1 into 1 15.647 * [backup-simplify]: Simplify (* 1 1) into 1 15.647 * [backup-simplify]: Simplify (/ 1 1) into 1 15.647 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 15.647 * [taylor]: Taking taylor expansion of 2 in phi1 15.647 * [backup-simplify]: Simplify 2 into 2 15.647 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 15.648 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 15.648 * [taylor]: Taking taylor expansion of phi1 in phi1 15.648 * [backup-simplify]: Simplify 0 into 0 15.648 * [backup-simplify]: Simplify 1 into 1 15.648 * [taylor]: Taking taylor expansion of phi2 in phi1 15.648 * [backup-simplify]: Simplify phi2 into phi2 15.648 * [backup-simplify]: Simplify (* 0 phi2) into 0 15.648 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 15.648 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.648 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.648 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.648 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.648 * [backup-simplify]: Simplify -0.5 into -0.5 15.648 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.648 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.648 * [taylor]: Taking taylor expansion of phi1 in phi1 15.648 * [backup-simplify]: Simplify 0 into 0 15.648 * [backup-simplify]: Simplify 1 into 1 15.648 * [backup-simplify]: Simplify (/ 1 1) into 1 15.648 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.648 * [taylor]: Taking taylor expansion of phi2 in phi1 15.648 * [backup-simplify]: Simplify phi2 into phi2 15.648 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.649 * [backup-simplify]: Simplify (+ 1 0) into 1 15.649 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.649 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.649 * [backup-simplify]: Simplify (+ 0 1) into 1 15.650 * [backup-simplify]: Simplify (+ 1 0) into 1 15.650 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.650 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 15.651 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 15.651 * [backup-simplify]: Simplify (+ 0 0) into 0 15.651 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 15.651 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 15.651 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 15.651 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 15.652 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 15.652 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 15.652 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 15.652 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 15.652 * [taylor]: Taking taylor expansion of phi2 in phi2 15.652 * [backup-simplify]: Simplify 0 into 0 15.652 * [backup-simplify]: Simplify 1 into 1 15.652 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.652 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.652 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.652 * [backup-simplify]: Simplify -0.5 into -0.5 15.652 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.652 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.652 * [taylor]: Taking taylor expansion of phi1 in phi2 15.652 * [backup-simplify]: Simplify phi1 into phi1 15.652 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.652 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.652 * [taylor]: Taking taylor expansion of phi2 in phi2 15.652 * [backup-simplify]: Simplify 0 into 0 15.652 * [backup-simplify]: Simplify 1 into 1 15.652 * [backup-simplify]: Simplify (/ 1 1) into 1 15.653 * [backup-simplify]: Simplify (+ 0 1) into 1 15.653 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.653 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.653 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 15.653 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.654 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.654 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.654 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 15.654 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.655 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 15.655 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.655 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.655 * [backup-simplify]: Simplify (+ 0 0) into 0 15.656 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 15.656 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.657 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 15.657 * [backup-simplify]: Simplify (- 0) into 0 15.657 * [backup-simplify]: Simplify (+ 0 0) into 0 15.658 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 15.659 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 15.659 * [taylor]: Taking taylor expansion of 0 in phi1 15.659 * [backup-simplify]: Simplify 0 into 0 15.659 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 15.660 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 15.660 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 15.660 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 15.660 * [backup-simplify]: Simplify (+ 0 0) into 0 15.661 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 15.661 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.662 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 15.662 * [backup-simplify]: Simplify (- 0) into 0 15.662 * [backup-simplify]: Simplify (+ 0 0) into 0 15.662 * [taylor]: Taking taylor expansion of 0 in phi1 15.662 * [backup-simplify]: Simplify 0 into 0 15.662 * [taylor]: Taking taylor expansion of 0 in phi2 15.662 * [backup-simplify]: Simplify 0 into 0 15.663 * [taylor]: Taking taylor expansion of 0 in phi2 15.663 * [backup-simplify]: Simplify 0 into 0 15.663 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 15.663 * [taylor]: Taking taylor expansion of 0 in phi2 15.663 * [backup-simplify]: Simplify 0 into 0 15.663 * [taylor]: Taking taylor expansion of 0 in phi2 15.663 * [backup-simplify]: Simplify 0 into 0 15.663 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.663 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 15.664 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1)))) (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1)))))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2))))))) into (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))))) 15.665 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2 2 1) 15.665 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi1 phi2))) 15.665 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi1 phi2) around 0 15.665 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 15.665 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 15.665 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.665 * [backup-simplify]: Simplify 0.5 into 0.5 15.665 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 15.665 * [taylor]: Taking taylor expansion of phi1 in phi2 15.665 * [backup-simplify]: Simplify phi1 into phi1 15.665 * [taylor]: Taking taylor expansion of phi2 in phi2 15.665 * [backup-simplify]: Simplify 0 into 0 15.665 * [backup-simplify]: Simplify 1 into 1 15.665 * [backup-simplify]: Simplify (+ phi1 0) into phi1 15.665 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.665 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.665 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.665 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.665 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.665 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.665 * [backup-simplify]: Simplify 0.5 into 0.5 15.665 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.665 * [taylor]: Taking taylor expansion of phi1 in phi1 15.665 * [backup-simplify]: Simplify 0 into 0 15.665 * [backup-simplify]: Simplify 1 into 1 15.665 * [taylor]: Taking taylor expansion of phi2 in phi1 15.665 * [backup-simplify]: Simplify phi2 into phi2 15.665 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.665 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.665 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.665 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.666 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.666 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.666 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.666 * [backup-simplify]: Simplify 0.5 into 0.5 15.666 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.666 * [taylor]: Taking taylor expansion of phi1 in phi1 15.666 * [backup-simplify]: Simplify 0 into 0 15.666 * [backup-simplify]: Simplify 1 into 1 15.666 * [taylor]: Taking taylor expansion of phi2 in phi1 15.666 * [backup-simplify]: Simplify phi2 into phi2 15.666 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.666 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.666 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.666 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.666 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.666 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.666 * [backup-simplify]: Simplify (- 0) into 0 15.666 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.667 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 15.667 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.667 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.667 * [backup-simplify]: Simplify 0.5 into 0.5 15.667 * [taylor]: Taking taylor expansion of phi2 in phi2 15.667 * [backup-simplify]: Simplify 0 into 0 15.667 * [backup-simplify]: Simplify 1 into 1 15.667 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.668 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.668 * [backup-simplify]: Simplify 1 into 1 15.668 * [backup-simplify]: Simplify (+ 0) into 0 15.669 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 15.669 * [backup-simplify]: Simplify (+ 1 0) into 1 15.669 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 15.671 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.671 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 15.671 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.671 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.671 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 15.671 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 15.671 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.671 * [backup-simplify]: Simplify 0.5 into 0.5 15.671 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 15.671 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.671 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.671 * [backup-simplify]: Simplify 0.5 into 0.5 15.671 * [taylor]: Taking taylor expansion of phi2 in phi2 15.671 * [backup-simplify]: Simplify 0 into 0 15.671 * [backup-simplify]: Simplify 1 into 1 15.672 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.673 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.673 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.673 * [backup-simplify]: Simplify (- 0) into 0 15.673 * [backup-simplify]: Simplify 0 into 0 15.673 * [backup-simplify]: Simplify (+ 0) into 0 15.673 * [backup-simplify]: Simplify 0 into 0 15.675 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 15.676 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 15.676 * [backup-simplify]: Simplify (+ 0 0) into 0 15.677 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 15.677 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.677 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 15.678 * [backup-simplify]: Simplify (- 0) into 0 15.678 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 15.678 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 15.678 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 15.678 * [taylor]: Taking taylor expansion of 0.125 in phi2 15.678 * [backup-simplify]: Simplify 0.125 into 0.125 15.678 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 15.678 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.678 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.678 * [backup-simplify]: Simplify 0.5 into 0.5 15.678 * [taylor]: Taking taylor expansion of phi2 in phi2 15.678 * [backup-simplify]: Simplify 0 into 0 15.678 * [backup-simplify]: Simplify 1 into 1 15.678 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.679 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.679 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 15.680 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 15.680 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 15.681 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.682 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 15.682 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 15.683 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 15.684 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) 15.684 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.684 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 15.684 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.684 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.684 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.684 * [backup-simplify]: Simplify 0.5 into 0.5 15.684 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.684 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.684 * [taylor]: Taking taylor expansion of phi1 in phi2 15.684 * [backup-simplify]: Simplify phi1 into phi1 15.684 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.684 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.684 * [taylor]: Taking taylor expansion of phi2 in phi2 15.684 * [backup-simplify]: Simplify 0 into 0 15.684 * [backup-simplify]: Simplify 1 into 1 15.685 * [backup-simplify]: Simplify (/ 1 1) into 1 15.685 * [backup-simplify]: Simplify (+ 0 1) into 1 15.685 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.686 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.686 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.686 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.686 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.686 * [backup-simplify]: Simplify 0.5 into 0.5 15.686 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.686 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.686 * [taylor]: Taking taylor expansion of phi1 in phi1 15.686 * [backup-simplify]: Simplify 0 into 0 15.686 * [backup-simplify]: Simplify 1 into 1 15.686 * [backup-simplify]: Simplify (/ 1 1) into 1 15.686 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.686 * [taylor]: Taking taylor expansion of phi2 in phi1 15.686 * [backup-simplify]: Simplify phi2 into phi2 15.686 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.687 * [backup-simplify]: Simplify (+ 1 0) into 1 15.687 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.687 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.687 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.687 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.688 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.688 * [backup-simplify]: Simplify 0.5 into 0.5 15.688 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.688 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.688 * [taylor]: Taking taylor expansion of phi1 in phi1 15.688 * [backup-simplify]: Simplify 0 into 0 15.688 * [backup-simplify]: Simplify 1 into 1 15.688 * [backup-simplify]: Simplify (/ 1 1) into 1 15.688 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.688 * [taylor]: Taking taylor expansion of phi2 in phi1 15.688 * [backup-simplify]: Simplify phi2 into phi2 15.688 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.689 * [backup-simplify]: Simplify (+ 1 0) into 1 15.689 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.689 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.689 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.689 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.689 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.689 * [backup-simplify]: Simplify 0.5 into 0.5 15.689 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.689 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.689 * [taylor]: Taking taylor expansion of phi1 in phi2 15.689 * [backup-simplify]: Simplify phi1 into phi1 15.690 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.690 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.690 * [taylor]: Taking taylor expansion of phi2 in phi2 15.690 * [backup-simplify]: Simplify 0 into 0 15.690 * [backup-simplify]: Simplify 1 into 1 15.690 * [backup-simplify]: Simplify (/ 1 1) into 1 15.690 * [backup-simplify]: Simplify (+ 0 1) into 1 15.691 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.691 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.691 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.691 * [taylor]: Taking taylor expansion of 0 in phi2 15.691 * [backup-simplify]: Simplify 0 into 0 15.691 * [backup-simplify]: Simplify 0 into 0 15.691 * [backup-simplify]: Simplify 0 into 0 15.691 * [taylor]: Taking taylor expansion of 0 in phi2 15.691 * [backup-simplify]: Simplify 0 into 0 15.691 * [backup-simplify]: Simplify 0 into 0 15.691 * [backup-simplify]: Simplify 0 into 0 15.692 * [backup-simplify]: Simplify 0 into 0 15.692 * [taylor]: Taking taylor expansion of 0 in phi2 15.692 * [backup-simplify]: Simplify 0 into 0 15.692 * [backup-simplify]: Simplify 0 into 0 15.692 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2))) 15.692 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.692 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 15.692 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.692 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.692 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.692 * [backup-simplify]: Simplify -0.5 into -0.5 15.692 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.692 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.692 * [taylor]: Taking taylor expansion of phi1 in phi2 15.692 * [backup-simplify]: Simplify phi1 into phi1 15.692 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.692 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.692 * [taylor]: Taking taylor expansion of phi2 in phi2 15.692 * [backup-simplify]: Simplify 0 into 0 15.692 * [backup-simplify]: Simplify 1 into 1 15.693 * [backup-simplify]: Simplify (/ 1 1) into 1 15.694 * [backup-simplify]: Simplify (+ 0 1) into 1 15.694 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.694 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.694 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.694 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.694 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.694 * [backup-simplify]: Simplify -0.5 into -0.5 15.694 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.694 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.694 * [taylor]: Taking taylor expansion of phi1 in phi1 15.694 * [backup-simplify]: Simplify 0 into 0 15.694 * [backup-simplify]: Simplify 1 into 1 15.695 * [backup-simplify]: Simplify (/ 1 1) into 1 15.695 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.695 * [taylor]: Taking taylor expansion of phi2 in phi1 15.695 * [backup-simplify]: Simplify phi2 into phi2 15.695 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.695 * [backup-simplify]: Simplify (+ 1 0) into 1 15.696 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.696 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.696 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.696 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.696 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.696 * [backup-simplify]: Simplify -0.5 into -0.5 15.696 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.696 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.696 * [taylor]: Taking taylor expansion of phi1 in phi1 15.696 * [backup-simplify]: Simplify 0 into 0 15.696 * [backup-simplify]: Simplify 1 into 1 15.697 * [backup-simplify]: Simplify (/ 1 1) into 1 15.697 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.697 * [taylor]: Taking taylor expansion of phi2 in phi1 15.697 * [backup-simplify]: Simplify phi2 into phi2 15.697 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.697 * [backup-simplify]: Simplify (+ 1 0) into 1 15.698 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.698 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.698 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.698 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.698 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.698 * [backup-simplify]: Simplify -0.5 into -0.5 15.698 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.698 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.698 * [taylor]: Taking taylor expansion of phi1 in phi2 15.698 * [backup-simplify]: Simplify phi1 into phi1 15.698 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.698 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.698 * [taylor]: Taking taylor expansion of phi2 in phi2 15.698 * [backup-simplify]: Simplify 0 into 0 15.698 * [backup-simplify]: Simplify 1 into 1 15.699 * [backup-simplify]: Simplify (/ 1 1) into 1 15.699 * [backup-simplify]: Simplify (+ 0 1) into 1 15.699 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.699 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.699 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.699 * [taylor]: Taking taylor expansion of 0 in phi2 15.699 * [backup-simplify]: Simplify 0 into 0 15.700 * [backup-simplify]: Simplify 0 into 0 15.700 * [backup-simplify]: Simplify 0 into 0 15.700 * [taylor]: Taking taylor expansion of 0 in phi2 15.700 * [backup-simplify]: Simplify 0 into 0 15.700 * [backup-simplify]: Simplify 0 into 0 15.700 * [backup-simplify]: Simplify 0 into 0 15.700 * [backup-simplify]: Simplify 0 into 0 15.700 * [taylor]: Taking taylor expansion of 0 in phi2 15.700 * [backup-simplify]: Simplify 0 into 0 15.700 * [backup-simplify]: Simplify 0 into 0 15.700 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2))) 15.700 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 2 2 1 2 1 2 1) 15.700 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi1 phi2))) 15.700 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi1 phi2) around 0 15.700 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 15.700 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 15.700 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.700 * [backup-simplify]: Simplify 0.5 into 0.5 15.700 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 15.700 * [taylor]: Taking taylor expansion of phi1 in phi2 15.700 * [backup-simplify]: Simplify phi1 into phi1 15.700 * [taylor]: Taking taylor expansion of phi2 in phi2 15.700 * [backup-simplify]: Simplify 0 into 0 15.700 * [backup-simplify]: Simplify 1 into 1 15.700 * [backup-simplify]: Simplify (+ phi1 0) into phi1 15.700 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.700 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.700 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.700 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.700 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.700 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.700 * [backup-simplify]: Simplify 0.5 into 0.5 15.700 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.700 * [taylor]: Taking taylor expansion of phi1 in phi1 15.700 * [backup-simplify]: Simplify 0 into 0 15.700 * [backup-simplify]: Simplify 1 into 1 15.700 * [taylor]: Taking taylor expansion of phi2 in phi1 15.700 * [backup-simplify]: Simplify phi2 into phi2 15.701 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.701 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.701 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.701 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.701 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.701 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.701 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.701 * [backup-simplify]: Simplify 0.5 into 0.5 15.701 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.701 * [taylor]: Taking taylor expansion of phi1 in phi1 15.701 * [backup-simplify]: Simplify 0 into 0 15.701 * [backup-simplify]: Simplify 1 into 1 15.701 * [taylor]: Taking taylor expansion of phi2 in phi1 15.701 * [backup-simplify]: Simplify phi2 into phi2 15.701 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.701 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.701 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.701 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.701 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.701 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.703 * [backup-simplify]: Simplify (- 0) into 0 15.703 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.703 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 15.703 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.703 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.703 * [backup-simplify]: Simplify 0.5 into 0.5 15.703 * [taylor]: Taking taylor expansion of phi2 in phi2 15.703 * [backup-simplify]: Simplify 0 into 0 15.703 * [backup-simplify]: Simplify 1 into 1 15.704 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.705 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.705 * [backup-simplify]: Simplify 1 into 1 15.705 * [backup-simplify]: Simplify (+ 0) into 0 15.705 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 15.706 * [backup-simplify]: Simplify (+ 1 0) into 1 15.706 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 15.707 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.708 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 15.708 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.708 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.708 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 15.708 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 15.708 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.708 * [backup-simplify]: Simplify 0.5 into 0.5 15.708 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 15.708 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.708 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.708 * [backup-simplify]: Simplify 0.5 into 0.5 15.708 * [taylor]: Taking taylor expansion of phi2 in phi2 15.708 * [backup-simplify]: Simplify 0 into 0 15.708 * [backup-simplify]: Simplify 1 into 1 15.708 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.709 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.709 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.710 * [backup-simplify]: Simplify (- 0) into 0 15.710 * [backup-simplify]: Simplify 0 into 0 15.710 * [backup-simplify]: Simplify (+ 0) into 0 15.710 * [backup-simplify]: Simplify 0 into 0 15.711 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 15.712 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 15.712 * [backup-simplify]: Simplify (+ 0 0) into 0 15.713 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 15.713 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.714 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 15.714 * [backup-simplify]: Simplify (- 0) into 0 15.714 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 15.714 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 15.714 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 15.714 * [taylor]: Taking taylor expansion of 0.125 in phi2 15.714 * [backup-simplify]: Simplify 0.125 into 0.125 15.714 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 15.714 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.714 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.714 * [backup-simplify]: Simplify 0.5 into 0.5 15.714 * [taylor]: Taking taylor expansion of phi2 in phi2 15.714 * [backup-simplify]: Simplify 0 into 0 15.714 * [backup-simplify]: Simplify 1 into 1 15.715 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.716 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.716 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 15.716 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 15.717 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 15.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.719 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 15.719 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 15.719 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 15.720 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) 15.720 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.720 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 15.720 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.720 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.720 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.720 * [backup-simplify]: Simplify 0.5 into 0.5 15.720 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.720 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.720 * [taylor]: Taking taylor expansion of phi1 in phi2 15.720 * [backup-simplify]: Simplify phi1 into phi1 15.720 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.720 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.720 * [taylor]: Taking taylor expansion of phi2 in phi2 15.721 * [backup-simplify]: Simplify 0 into 0 15.721 * [backup-simplify]: Simplify 1 into 1 15.721 * [backup-simplify]: Simplify (/ 1 1) into 1 15.721 * [backup-simplify]: Simplify (+ 0 1) into 1 15.721 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.722 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.722 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.722 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.722 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.722 * [backup-simplify]: Simplify 0.5 into 0.5 15.722 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.722 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.722 * [taylor]: Taking taylor expansion of phi1 in phi1 15.722 * [backup-simplify]: Simplify 0 into 0 15.722 * [backup-simplify]: Simplify 1 into 1 15.722 * [backup-simplify]: Simplify (/ 1 1) into 1 15.722 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.722 * [taylor]: Taking taylor expansion of phi2 in phi1 15.722 * [backup-simplify]: Simplify phi2 into phi2 15.722 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.722 * [backup-simplify]: Simplify (+ 1 0) into 1 15.723 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.723 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.723 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.723 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.723 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.723 * [backup-simplify]: Simplify 0.5 into 0.5 15.723 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.723 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.723 * [taylor]: Taking taylor expansion of phi1 in phi1 15.723 * [backup-simplify]: Simplify 0 into 0 15.723 * [backup-simplify]: Simplify 1 into 1 15.723 * [backup-simplify]: Simplify (/ 1 1) into 1 15.723 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.723 * [taylor]: Taking taylor expansion of phi2 in phi1 15.723 * [backup-simplify]: Simplify phi2 into phi2 15.723 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.724 * [backup-simplify]: Simplify (+ 1 0) into 1 15.724 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.724 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.724 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.724 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.724 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.724 * [backup-simplify]: Simplify 0.5 into 0.5 15.724 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.724 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.724 * [taylor]: Taking taylor expansion of phi1 in phi2 15.724 * [backup-simplify]: Simplify phi1 into phi1 15.724 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.724 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.724 * [taylor]: Taking taylor expansion of phi2 in phi2 15.724 * [backup-simplify]: Simplify 0 into 0 15.724 * [backup-simplify]: Simplify 1 into 1 15.725 * [backup-simplify]: Simplify (/ 1 1) into 1 15.725 * [backup-simplify]: Simplify (+ 0 1) into 1 15.725 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.725 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.725 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.725 * [taylor]: Taking taylor expansion of 0 in phi2 15.725 * [backup-simplify]: Simplify 0 into 0 15.725 * [backup-simplify]: Simplify 0 into 0 15.725 * [backup-simplify]: Simplify 0 into 0 15.725 * [taylor]: Taking taylor expansion of 0 in phi2 15.726 * [backup-simplify]: Simplify 0 into 0 15.726 * [backup-simplify]: Simplify 0 into 0 15.726 * [backup-simplify]: Simplify 0 into 0 15.726 * [backup-simplify]: Simplify 0 into 0 15.726 * [taylor]: Taking taylor expansion of 0 in phi2 15.726 * [backup-simplify]: Simplify 0 into 0 15.726 * [backup-simplify]: Simplify 0 into 0 15.726 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2))) 15.726 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.726 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 15.726 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.726 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.726 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.726 * [backup-simplify]: Simplify -0.5 into -0.5 15.726 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.726 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.726 * [taylor]: Taking taylor expansion of phi1 in phi2 15.726 * [backup-simplify]: Simplify phi1 into phi1 15.726 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.726 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.726 * [taylor]: Taking taylor expansion of phi2 in phi2 15.726 * [backup-simplify]: Simplify 0 into 0 15.726 * [backup-simplify]: Simplify 1 into 1 15.726 * [backup-simplify]: Simplify (/ 1 1) into 1 15.727 * [backup-simplify]: Simplify (+ 0 1) into 1 15.727 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.727 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.727 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.727 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.727 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.727 * [backup-simplify]: Simplify -0.5 into -0.5 15.727 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.727 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.727 * [taylor]: Taking taylor expansion of phi1 in phi1 15.727 * [backup-simplify]: Simplify 0 into 0 15.727 * [backup-simplify]: Simplify 1 into 1 15.728 * [backup-simplify]: Simplify (/ 1 1) into 1 15.728 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.728 * [taylor]: Taking taylor expansion of phi2 in phi1 15.728 * [backup-simplify]: Simplify phi2 into phi2 15.728 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.728 * [backup-simplify]: Simplify (+ 1 0) into 1 15.729 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.729 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.729 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.729 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.729 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.729 * [backup-simplify]: Simplify -0.5 into -0.5 15.729 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.729 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.729 * [taylor]: Taking taylor expansion of phi1 in phi1 15.729 * [backup-simplify]: Simplify 0 into 0 15.729 * [backup-simplify]: Simplify 1 into 1 15.730 * [backup-simplify]: Simplify (/ 1 1) into 1 15.730 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.730 * [taylor]: Taking taylor expansion of phi2 in phi1 15.730 * [backup-simplify]: Simplify phi2 into phi2 15.730 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.730 * [backup-simplify]: Simplify (+ 1 0) into 1 15.731 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.731 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.731 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.731 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.731 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.731 * [backup-simplify]: Simplify -0.5 into -0.5 15.731 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.731 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.731 * [taylor]: Taking taylor expansion of phi1 in phi2 15.731 * [backup-simplify]: Simplify phi1 into phi1 15.731 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.731 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.731 * [taylor]: Taking taylor expansion of phi2 in phi2 15.731 * [backup-simplify]: Simplify 0 into 0 15.732 * [backup-simplify]: Simplify 1 into 1 15.732 * [backup-simplify]: Simplify (/ 1 1) into 1 15.732 * [backup-simplify]: Simplify (+ 0 1) into 1 15.733 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.733 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.733 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.733 * [taylor]: Taking taylor expansion of 0 in phi2 15.733 * [backup-simplify]: Simplify 0 into 0 15.733 * [backup-simplify]: Simplify 0 into 0 15.733 * [backup-simplify]: Simplify 0 into 0 15.733 * [taylor]: Taking taylor expansion of 0 in phi2 15.733 * [backup-simplify]: Simplify 0 into 0 15.733 * [backup-simplify]: Simplify 0 into 0 15.734 * [backup-simplify]: Simplify 0 into 0 15.734 * [backup-simplify]: Simplify 0 into 0 15.734 * [taylor]: Taking taylor expansion of 0 in phi2 15.734 * [backup-simplify]: Simplify 0 into 0 15.734 * [backup-simplify]: Simplify 0 into 0 15.734 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2))) 15.734 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1 2 2 1 2 1 1 2 1) 15.734 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi1 phi2))) 15.734 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi1 phi2) around 0 15.734 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 15.734 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 15.734 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.734 * [backup-simplify]: Simplify 0.5 into 0.5 15.734 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 15.734 * [taylor]: Taking taylor expansion of phi1 in phi2 15.734 * [backup-simplify]: Simplify phi1 into phi1 15.734 * [taylor]: Taking taylor expansion of phi2 in phi2 15.734 * [backup-simplify]: Simplify 0 into 0 15.735 * [backup-simplify]: Simplify 1 into 1 15.735 * [backup-simplify]: Simplify (+ phi1 0) into phi1 15.735 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 15.735 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 15.735 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 15.735 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.735 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.735 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.735 * [backup-simplify]: Simplify 0.5 into 0.5 15.735 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.735 * [taylor]: Taking taylor expansion of phi1 in phi1 15.735 * [backup-simplify]: Simplify 0 into 0 15.735 * [backup-simplify]: Simplify 1 into 1 15.735 * [taylor]: Taking taylor expansion of phi2 in phi1 15.735 * [backup-simplify]: Simplify phi2 into phi2 15.735 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.735 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.735 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.735 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.735 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 15.735 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 15.735 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.736 * [backup-simplify]: Simplify 0.5 into 0.5 15.736 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 15.736 * [taylor]: Taking taylor expansion of phi1 in phi1 15.736 * [backup-simplify]: Simplify 0 into 0 15.736 * [backup-simplify]: Simplify 1 into 1 15.736 * [taylor]: Taking taylor expansion of phi2 in phi1 15.736 * [backup-simplify]: Simplify phi2 into phi2 15.736 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 15.736 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 15.736 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 15.736 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 15.736 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 15.736 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 15.737 * [backup-simplify]: Simplify (- 0) into 0 15.737 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 15.737 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 15.737 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.737 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.737 * [backup-simplify]: Simplify 0.5 into 0.5 15.737 * [taylor]: Taking taylor expansion of phi2 in phi2 15.737 * [backup-simplify]: Simplify 0 into 0 15.737 * [backup-simplify]: Simplify 1 into 1 15.738 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.739 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.739 * [backup-simplify]: Simplify 1 into 1 15.739 * [backup-simplify]: Simplify (+ 0) into 0 15.740 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 15.740 * [backup-simplify]: Simplify (+ 1 0) into 1 15.741 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 15.743 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.744 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 15.744 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.745 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 15.745 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 15.745 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 15.745 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.745 * [backup-simplify]: Simplify 0.5 into 0.5 15.745 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 15.745 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.745 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.745 * [backup-simplify]: Simplify 0.5 into 0.5 15.745 * [taylor]: Taking taylor expansion of phi2 in phi2 15.745 * [backup-simplify]: Simplify 0 into 0 15.745 * [backup-simplify]: Simplify 1 into 1 15.745 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.747 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.747 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.748 * [backup-simplify]: Simplify (- 0) into 0 15.748 * [backup-simplify]: Simplify 0 into 0 15.748 * [backup-simplify]: Simplify (+ 0) into 0 15.748 * [backup-simplify]: Simplify 0 into 0 15.751 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 15.752 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 15.752 * [backup-simplify]: Simplify (+ 0 0) into 0 15.753 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 15.754 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 15.755 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 15.755 * [backup-simplify]: Simplify (- 0) into 0 15.755 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 15.755 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 15.756 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 15.756 * [taylor]: Taking taylor expansion of 0.125 in phi2 15.756 * [backup-simplify]: Simplify 0.125 into 0.125 15.756 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 15.756 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 15.756 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.756 * [backup-simplify]: Simplify 0.5 into 0.5 15.756 * [taylor]: Taking taylor expansion of phi2 in phi2 15.756 * [backup-simplify]: Simplify 0 into 0 15.756 * [backup-simplify]: Simplify 1 into 1 15.756 * [backup-simplify]: Simplify (* 0.5 0) into 0 15.758 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 15.758 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 15.759 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 15.759 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 15.761 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 15.761 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 15.762 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 15.762 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 15.763 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) 15.763 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.763 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 15.763 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.763 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.763 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.763 * [backup-simplify]: Simplify 0.5 into 0.5 15.763 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.763 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.763 * [taylor]: Taking taylor expansion of phi1 in phi2 15.763 * [backup-simplify]: Simplify phi1 into phi1 15.763 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.763 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.763 * [taylor]: Taking taylor expansion of phi2 in phi2 15.763 * [backup-simplify]: Simplify 0 into 0 15.763 * [backup-simplify]: Simplify 1 into 1 15.763 * [backup-simplify]: Simplify (/ 1 1) into 1 15.764 * [backup-simplify]: Simplify (+ 0 1) into 1 15.764 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.764 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.764 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.764 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.764 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.764 * [backup-simplify]: Simplify 0.5 into 0.5 15.764 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.764 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.764 * [taylor]: Taking taylor expansion of phi1 in phi1 15.764 * [backup-simplify]: Simplify 0 into 0 15.764 * [backup-simplify]: Simplify 1 into 1 15.764 * [backup-simplify]: Simplify (/ 1 1) into 1 15.764 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.764 * [taylor]: Taking taylor expansion of phi2 in phi1 15.764 * [backup-simplify]: Simplify phi2 into phi2 15.764 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.765 * [backup-simplify]: Simplify (+ 1 0) into 1 15.765 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.765 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.765 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.765 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.765 * [taylor]: Taking taylor expansion of 0.5 in phi1 15.765 * [backup-simplify]: Simplify 0.5 into 0.5 15.765 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.765 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.765 * [taylor]: Taking taylor expansion of phi1 in phi1 15.765 * [backup-simplify]: Simplify 0 into 0 15.765 * [backup-simplify]: Simplify 1 into 1 15.766 * [backup-simplify]: Simplify (/ 1 1) into 1 15.766 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.766 * [taylor]: Taking taylor expansion of phi2 in phi1 15.766 * [backup-simplify]: Simplify phi2 into phi2 15.766 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.766 * [backup-simplify]: Simplify (+ 1 0) into 1 15.766 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.766 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.767 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.767 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.767 * [taylor]: Taking taylor expansion of 0.5 in phi2 15.767 * [backup-simplify]: Simplify 0.5 into 0.5 15.767 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.767 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.767 * [taylor]: Taking taylor expansion of phi1 in phi2 15.767 * [backup-simplify]: Simplify phi1 into phi1 15.767 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.767 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.767 * [taylor]: Taking taylor expansion of phi2 in phi2 15.767 * [backup-simplify]: Simplify 0 into 0 15.767 * [backup-simplify]: Simplify 1 into 1 15.767 * [backup-simplify]: Simplify (/ 1 1) into 1 15.767 * [backup-simplify]: Simplify (+ 0 1) into 1 15.768 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 15.768 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.768 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.768 * [taylor]: Taking taylor expansion of 0 in phi2 15.768 * [backup-simplify]: Simplify 0 into 0 15.768 * [backup-simplify]: Simplify 0 into 0 15.768 * [backup-simplify]: Simplify 0 into 0 15.768 * [taylor]: Taking taylor expansion of 0 in phi2 15.768 * [backup-simplify]: Simplify 0 into 0 15.768 * [backup-simplify]: Simplify 0 into 0 15.768 * [backup-simplify]: Simplify 0 into 0 15.768 * [backup-simplify]: Simplify 0 into 0 15.768 * [taylor]: Taking taylor expansion of 0 in phi2 15.768 * [backup-simplify]: Simplify 0 into 0 15.768 * [backup-simplify]: Simplify 0 into 0 15.768 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2))) 15.768 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.768 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 15.768 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.768 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.768 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.768 * [backup-simplify]: Simplify -0.5 into -0.5 15.768 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.769 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.769 * [taylor]: Taking taylor expansion of phi1 in phi2 15.769 * [backup-simplify]: Simplify phi1 into phi1 15.769 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.769 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.769 * [taylor]: Taking taylor expansion of phi2 in phi2 15.769 * [backup-simplify]: Simplify 0 into 0 15.769 * [backup-simplify]: Simplify 1 into 1 15.769 * [backup-simplify]: Simplify (/ 1 1) into 1 15.769 * [backup-simplify]: Simplify (+ 0 1) into 1 15.770 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.770 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.770 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.770 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.770 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.770 * [backup-simplify]: Simplify -0.5 into -0.5 15.770 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.770 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.770 * [taylor]: Taking taylor expansion of phi1 in phi1 15.770 * [backup-simplify]: Simplify 0 into 0 15.770 * [backup-simplify]: Simplify 1 into 1 15.770 * [backup-simplify]: Simplify (/ 1 1) into 1 15.770 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.770 * [taylor]: Taking taylor expansion of phi2 in phi1 15.770 * [backup-simplify]: Simplify phi2 into phi2 15.770 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.771 * [backup-simplify]: Simplify (+ 1 0) into 1 15.771 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.771 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.771 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 15.771 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 15.771 * [taylor]: Taking taylor expansion of -0.5 in phi1 15.771 * [backup-simplify]: Simplify -0.5 into -0.5 15.771 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 15.771 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 15.771 * [taylor]: Taking taylor expansion of phi1 in phi1 15.771 * [backup-simplify]: Simplify 0 into 0 15.771 * [backup-simplify]: Simplify 1 into 1 15.772 * [backup-simplify]: Simplify (/ 1 1) into 1 15.772 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 15.772 * [taylor]: Taking taylor expansion of phi2 in phi1 15.772 * [backup-simplify]: Simplify phi2 into phi2 15.772 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 15.772 * [backup-simplify]: Simplify (+ 1 0) into 1 15.772 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.772 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.772 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 15.772 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 15.772 * [taylor]: Taking taylor expansion of -0.5 in phi2 15.772 * [backup-simplify]: Simplify -0.5 into -0.5 15.773 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 15.773 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 15.773 * [taylor]: Taking taylor expansion of phi1 in phi2 15.773 * [backup-simplify]: Simplify phi1 into phi1 15.773 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 15.773 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 15.773 * [taylor]: Taking taylor expansion of phi2 in phi2 15.773 * [backup-simplify]: Simplify 0 into 0 15.773 * [backup-simplify]: Simplify 1 into 1 15.773 * [backup-simplify]: Simplify (/ 1 1) into 1 15.773 * [backup-simplify]: Simplify (+ 0 1) into 1 15.773 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 15.774 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.774 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 15.774 * [taylor]: Taking taylor expansion of 0 in phi2 15.774 * [backup-simplify]: Simplify 0 into 0 15.774 * [backup-simplify]: Simplify 0 into 0 15.774 * [backup-simplify]: Simplify 0 into 0 15.774 * [taylor]: Taking taylor expansion of 0 in phi2 15.774 * [backup-simplify]: Simplify 0 into 0 15.774 * [backup-simplify]: Simplify 0 into 0 15.774 * [backup-simplify]: Simplify 0 into 0 15.774 * [backup-simplify]: Simplify 0 into 0 15.774 * [taylor]: Taking taylor expansion of 0 in phi2 15.774 * [backup-simplify]: Simplify 0 into 0 15.774 * [backup-simplify]: Simplify 0 into 0 15.774 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2))) 15.774 * * * [progress]: simplifying candidates 15.778 * [simplify]: Simplifying: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (* (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 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0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))))) (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) 15.786 * * [simplify]: Extracting # 0 : cost 126 inf + 0 15.786 * * [simplify]: Extracting # 1 : cost 245 inf + 0 15.787 * * [simplify]: Extracting # 2 : cost 363 inf + 88 15.788 * * [simplify]: Extracting # 3 : cost 393 inf + 338 15.790 * * [simplify]: Extracting # 4 : cost 382 inf + 3215 15.792 * * [simplify]: Extracting # 5 : cost 364 inf + 6853 15.797 * * [simplify]: Extracting # 6 : cost 330 inf + 21287 15.804 * * [simplify]: Extracting # 7 : cost 281 inf + 45305 15.816 * * [simplify]: Extracting # 8 : cost 203 inf + 94890 15.841 * * [simplify]: Extracting # 9 : cost 132 inf + 179455 15.887 * * [simplify]: Extracting # 10 : cost 45 inf + 320958 15.967 * * [simplify]: Extracting # 11 : cost 5 inf + 393973 16.028 * * [simplify]: Extracting # 12 : cost 1 inf + 401337 16.113 * * [simplify]: Extracting # 13 : cost 0 inf + 403643 16.174 * * [simplify]: iteration 0 : 427 enodes (cost 166198 ) 16.315 * * [simplify]: Extracting # 0 : cost 0 inf + 403643 16.439 * * [simplify]: Extracting # 1 : cost 236 inf + 268036 16.552 * * [simplify]: Extracting # 2 : cost 7 inf + 372186 16.691 * * [simplify]: Extracting # 3 : cost 2 inf + 337706 16.803 * * [simplify]: Extracting # 4 : cost 0 inf + 320101 16.895 * * [simplify]: Extracting # 5 : cost 0 inf + 317022 16.978 * * [simplify]: iteration 1 : 1292 enodes (cost 130586 ) 17.320 * * [simplify]: Extracting # 0 : cost 0 inf + 317022 17.420 * * [simplify]: Extracting # 1 : cost 2219 inf + 315801 17.705 * * [simplify]: Extracting # 2 : cost 32 inf + 1318451 18.124 * * [simplify]: Extracting # 3 : cost 9 inf + 1321439 18.544 * * [simplify]: Extracting # 4 : cost 0 inf + 1324421 18.956 * * [simplify]: iteration done: 5000 enodes (cost 130426 ) 18.960 * [simplify]: Simplified to: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* 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phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))))))) (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))))) (* (* (- phi1 phi2) (- phi1 phi2)) (- (* (- phi1 phi2) (- phi1 phi2)) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))))))) (sqrt (- (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))))) (* (* (- phi1 phi2) (- phi1 phi2)) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (- (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2)))) 1/2 (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (* (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))))) (* (- phi1 phi2) (- phi1 phi2))))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (- phi2 phi1) (- (+ (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (/ (* lambda2 (* phi1 phi2)) (* (* lambda1 lambda1) (cos (* 0.5 (+ phi1 phi2))))))) (+ (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (/ (* lambda2 (* phi1 phi2)) (* (* lambda1 lambda1) (cos (* 0.5 (+ phi1 phi2)))))) (- (- 1 (* 0.25 (* phi1 phi2))) (* 0.125 (* phi1 phi1))) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (- (- 1 (* 0.25 (* phi1 phi2))) (* 0.125 (* phi1 phi1))) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (- (- 1 (* 0.25 (* phi1 phi2))) (* 0.125 (* phi1 phi1))) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) 19.056 * * * [progress]: adding candidates to table 20.321 * * [progress]: iteration 4 / 4 20.321 * * * [progress]: picking best candidate 20.407 * * * * [pick]: Picked # 20.407 * * * [progress]: localizing error 20.510 * * * [progress]: generating rewritten candidates 20.510 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2 2 1) 20.619 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1) 20.761 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 2 1 1 1 2 2) 20.776 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 2 1 1 1 1 2) 20.817 * * * [progress]: generating series expansions 20.817 * * * * [progress]: [ 1 / 4 ] generating series at (2 2 2 1) 20.817 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) 20.817 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in (lambda1 lambda2 phi1 phi2) around 0 20.817 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in phi2 20.818 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in phi2 20.818 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in phi2 20.818 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 20.818 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 20.818 * [taylor]: Taking taylor expansion of lambda2 in phi2 20.818 * [backup-simplify]: Simplify lambda2 into lambda2 20.818 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 20.818 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 20.818 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 20.818 * [taylor]: Taking taylor expansion of 0.5 in phi2 20.818 * [backup-simplify]: Simplify 0.5 into 0.5 20.818 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 20.818 * [taylor]: Taking taylor expansion of phi1 in phi2 20.818 * [backup-simplify]: Simplify phi1 into phi1 20.818 * [taylor]: Taking taylor expansion of phi2 in phi2 20.818 * [backup-simplify]: Simplify 0 into 0 20.818 * [backup-simplify]: Simplify 1 into 1 20.818 * [backup-simplify]: Simplify (+ phi1 0) into phi1 20.818 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 20.818 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 20.818 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 20.818 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 20.818 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 20.819 * [backup-simplify]: Simplify (- 0) into 0 20.819 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 20.819 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in phi2 20.819 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 20.819 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 20.819 * [taylor]: Taking taylor expansion of lambda1 in phi2 20.819 * [backup-simplify]: Simplify lambda1 into lambda1 20.819 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 20.819 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 20.819 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 20.819 * [taylor]: Taking taylor expansion of 0.5 in phi2 20.819 * [backup-simplify]: Simplify 0.5 into 0.5 20.819 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 20.819 * [taylor]: Taking taylor expansion of phi1 in phi2 20.819 * [backup-simplify]: Simplify phi1 into phi1 20.819 * [taylor]: Taking taylor expansion of phi2 in phi2 20.819 * [backup-simplify]: Simplify 0 into 0 20.819 * [backup-simplify]: Simplify 1 into 1 20.819 * [backup-simplify]: Simplify (+ phi1 0) into phi1 20.819 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 20.819 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 20.819 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 20.819 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 20.819 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 20.820 * [backup-simplify]: Simplify (- 0) into 0 20.820 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 20.820 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi2 20.820 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 20.820 * [taylor]: Taking taylor expansion of phi1 in phi2 20.820 * [backup-simplify]: Simplify phi1 into phi1 20.820 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 20.820 * [taylor]: Taking taylor expansion of phi2 in phi2 20.820 * [backup-simplify]: Simplify 0 into 0 20.820 * [backup-simplify]: Simplify 1 into 1 20.820 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in phi2 20.820 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi2 20.820 * [taylor]: Taking taylor expansion of 2 in phi2 20.820 * [backup-simplify]: Simplify 2 into 2 20.820 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 20.820 * [taylor]: Taking taylor expansion of phi1 in phi2 20.820 * [backup-simplify]: Simplify phi1 into phi1 20.820 * [taylor]: Taking taylor expansion of phi2 in phi2 20.820 * [backup-simplify]: Simplify 0 into 0 20.820 * [backup-simplify]: Simplify 1 into 1 20.820 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in phi2 20.820 * [taylor]: Taking taylor expansion of 2 in phi2 20.820 * [backup-simplify]: Simplify 2 into 2 20.820 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi2 20.820 * [taylor]: Taking taylor expansion of lambda2 in phi2 20.820 * [backup-simplify]: Simplify lambda2 into lambda2 20.820 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 20.820 * [taylor]: Taking taylor expansion of lambda1 in phi2 20.820 * [backup-simplify]: Simplify lambda1 into lambda1 20.820 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 20.820 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 20.820 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 20.820 * [taylor]: Taking taylor expansion of 0.5 in phi2 20.820 * [backup-simplify]: Simplify 0.5 into 0.5 20.820 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 20.820 * [taylor]: Taking taylor expansion of phi1 in phi2 20.820 * [backup-simplify]: Simplify phi1 into phi1 20.820 * [taylor]: Taking taylor expansion of phi2 in phi2 20.820 * [backup-simplify]: Simplify 0 into 0 20.820 * [backup-simplify]: Simplify 1 into 1 20.820 * [backup-simplify]: Simplify (+ phi1 0) into phi1 20.820 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 20.820 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 20.820 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 20.820 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 20.820 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 20.821 * [backup-simplify]: Simplify (- 0) into 0 20.821 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 20.821 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 20.821 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 20.821 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) 20.821 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 20.821 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 20.821 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 20.821 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 20.822 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 20.822 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 20.822 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) 20.822 * [backup-simplify]: Simplify (* phi1 0) into 0 20.823 * [backup-simplify]: Simplify (* 2 0) into 0 20.823 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 20.823 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 20.823 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))) 20.823 * [backup-simplify]: Simplify (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) 20.823 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) 20.824 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) 20.824 * [backup-simplify]: Simplify (+ (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) 20.825 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) 20.826 * [backup-simplify]: Simplify (+ 0) into 0 20.826 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 20.830 * [backup-simplify]: Simplify (+ 0 1) into 1 20.830 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 20.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 20.832 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 20.832 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 20.832 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 20.833 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 20.833 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 20.833 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 20.833 * [backup-simplify]: Simplify (+ 0) into 0 20.834 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 20.834 * [backup-simplify]: Simplify (+ 0 1) into 1 20.835 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 20.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 20.836 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 20.836 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 20.836 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 20.837 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 20.837 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 20.837 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 20.837 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 20.838 * [backup-simplify]: Simplify (+ 0 0) into 0 20.838 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 0) into (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 20.840 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) into (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) 20.841 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 20.841 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 20.841 * [backup-simplify]: Simplify (+ 0) into 0 20.842 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 20.842 * [backup-simplify]: Simplify (+ 0 1) into 1 20.843 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 20.846 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 20.846 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 20.846 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 20.846 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 20.847 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 20.848 * [backup-simplify]: Simplify (+ (* lambda1 (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* lambda1 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* lambda1 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 20.849 * [backup-simplify]: Simplify (+ (* lambda2 (- (+ (* 0.5 (* lambda1 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* lambda1 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) 20.850 * [backup-simplify]: Simplify (+ (* 2 (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (* 0 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (- (+ (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))))) 20.851 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (+ (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1))))))))) into (- (* 2 phi1) (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) 20.852 * [backup-simplify]: Simplify (- (- (* 2 phi1) (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) into (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 2 phi1)) 20.856 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 2 phi1))) into (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) 20.860 * [backup-simplify]: Simplify (/ (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))) (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))))) 20.860 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in phi1 20.860 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in phi1 20.860 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in phi1 20.860 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 20.860 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 20.860 * [taylor]: Taking taylor expansion of lambda2 in phi1 20.860 * [backup-simplify]: Simplify lambda2 into lambda2 20.860 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 20.860 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 20.860 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 20.860 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.860 * [backup-simplify]: Simplify 0.5 into 0.5 20.860 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 20.860 * [taylor]: Taking taylor expansion of phi1 in phi1 20.860 * [backup-simplify]: Simplify 0 into 0 20.861 * [backup-simplify]: Simplify 1 into 1 20.861 * [taylor]: Taking taylor expansion of phi2 in phi1 20.861 * [backup-simplify]: Simplify phi2 into phi2 20.861 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 20.861 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 20.861 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 20.861 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 20.861 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 20.861 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 20.862 * [backup-simplify]: Simplify (- 0) into 0 20.862 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 20.862 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in phi1 20.862 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 20.862 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 20.862 * [taylor]: Taking taylor expansion of lambda1 in phi1 20.862 * [backup-simplify]: Simplify lambda1 into lambda1 20.862 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 20.862 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 20.862 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 20.862 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.862 * [backup-simplify]: Simplify 0.5 into 0.5 20.862 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 20.862 * [taylor]: Taking taylor expansion of phi1 in phi1 20.862 * [backup-simplify]: Simplify 0 into 0 20.862 * [backup-simplify]: Simplify 1 into 1 20.862 * [taylor]: Taking taylor expansion of phi2 in phi1 20.862 * [backup-simplify]: Simplify phi2 into phi2 20.862 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 20.862 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 20.862 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 20.862 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 20.863 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 20.863 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 20.863 * [backup-simplify]: Simplify (- 0) into 0 20.863 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 20.863 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 20.863 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 20.863 * [taylor]: Taking taylor expansion of phi1 in phi1 20.863 * [backup-simplify]: Simplify 0 into 0 20.863 * [backup-simplify]: Simplify 1 into 1 20.863 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 20.863 * [taylor]: Taking taylor expansion of phi2 in phi1 20.863 * [backup-simplify]: Simplify phi2 into phi2 20.863 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in phi1 20.863 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 20.863 * [taylor]: Taking taylor expansion of 2 in phi1 20.863 * [backup-simplify]: Simplify 2 into 2 20.864 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 20.864 * [taylor]: Taking taylor expansion of phi1 in phi1 20.864 * [backup-simplify]: Simplify 0 into 0 20.864 * [backup-simplify]: Simplify 1 into 1 20.864 * [taylor]: Taking taylor expansion of phi2 in phi1 20.864 * [backup-simplify]: Simplify phi2 into phi2 20.864 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in phi1 20.864 * [taylor]: Taking taylor expansion of 2 in phi1 20.864 * [backup-simplify]: Simplify 2 into 2 20.864 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 20.864 * [taylor]: Taking taylor expansion of lambda2 in phi1 20.864 * [backup-simplify]: Simplify lambda2 into lambda2 20.864 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 20.864 * [taylor]: Taking taylor expansion of lambda1 in phi1 20.864 * [backup-simplify]: Simplify lambda1 into lambda1 20.864 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 20.864 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 20.864 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 20.864 * [taylor]: Taking taylor expansion of 0.5 in phi1 20.864 * [backup-simplify]: Simplify 0.5 into 0.5 20.864 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 20.864 * [taylor]: Taking taylor expansion of phi1 in phi1 20.864 * [backup-simplify]: Simplify 0 into 0 20.864 * [backup-simplify]: Simplify 1 into 1 20.864 * [taylor]: Taking taylor expansion of phi2 in phi1 20.864 * [backup-simplify]: Simplify phi2 into phi2 20.864 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 20.864 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 20.864 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 20.864 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 20.865 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 20.865 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 20.865 * [backup-simplify]: Simplify (- 0) into 0 20.865 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 20.865 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 20.865 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 20.866 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) 20.866 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 20.866 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 20.866 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) 20.866 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 20.866 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 20.867 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (pow phi2 2)) into (+ (pow phi2 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) 20.868 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) (+ (pow phi2 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)))) into (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) 20.868 * [backup-simplify]: Simplify (* 0 phi2) into 0 20.868 * [backup-simplify]: Simplify (* 2 0) into 0 20.868 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 20.869 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 phi2)) 2)) into (* lambda1 (pow (cos (* 0.5 phi2)) 2)) 20.869 * [backup-simplify]: Simplify (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))) into (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))) 20.869 * [backup-simplify]: Simplify (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) 20.870 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) 20.870 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) 20.872 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) 20.873 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) 20.874 * [backup-simplify]: Simplify (+ 0) into 0 20.874 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 20.875 * [backup-simplify]: Simplify (+ 1 0) into 1 20.875 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 20.877 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 20.878 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 20.878 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 20.878 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 20.879 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 20.879 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 20.879 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 20.880 * [backup-simplify]: Simplify (+ 0) into 0 20.880 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 20.881 * [backup-simplify]: Simplify (+ 1 0) into 1 20.881 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 20.883 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 20.884 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 20.884 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 20.884 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 20.885 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 20.885 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 20.885 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 20.885 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 20.886 * [backup-simplify]: Simplify (+ 0 0) into 0 20.886 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 0) into (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 20.887 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) into (- (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 20.888 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 20.888 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 20.888 * [backup-simplify]: Simplify (+ 0) into 0 20.889 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 20.889 * [backup-simplify]: Simplify (+ 1 0) into 1 20.890 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 20.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 20.892 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 20.892 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 20.892 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 20.893 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 20.893 * [backup-simplify]: Simplify (+ (* lambda1 (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 20.894 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 0 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) into (- (* 1.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 20.894 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (* 0 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 20.895 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) into (- (* 2 phi2) (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 20.895 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 2 phi2)) 20.897 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 2 phi2))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) 20.899 * [backup-simplify]: Simplify (/ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))))) 20.899 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda2 20.899 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda2 20.899 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda2 20.899 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 20.899 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 20.899 * [taylor]: Taking taylor expansion of lambda2 in lambda2 20.899 * [backup-simplify]: Simplify 0 into 0 20.900 * [backup-simplify]: Simplify 1 into 1 20.900 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 20.900 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 20.900 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 20.900 * [taylor]: Taking taylor expansion of 0.5 in lambda2 20.900 * [backup-simplify]: Simplify 0.5 into 0.5 20.900 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 20.900 * [taylor]: Taking taylor expansion of phi1 in lambda2 20.900 * [backup-simplify]: Simplify phi1 into phi1 20.900 * [taylor]: Taking taylor expansion of phi2 in lambda2 20.900 * [backup-simplify]: Simplify phi2 into phi2 20.900 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 20.900 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 20.900 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 20.900 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 20.900 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 20.900 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 20.901 * [backup-simplify]: Simplify (- 0) into 0 20.901 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 20.901 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 20.901 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 20.901 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 20.901 * [taylor]: Taking taylor expansion of lambda1 in lambda2 20.901 * [backup-simplify]: Simplify lambda1 into lambda1 20.901 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 20.901 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 20.901 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 20.901 * [taylor]: Taking taylor expansion of 0.5 in lambda2 20.901 * [backup-simplify]: Simplify 0.5 into 0.5 20.901 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 20.901 * [taylor]: Taking taylor expansion of phi1 in lambda2 20.901 * [backup-simplify]: Simplify phi1 into phi1 20.901 * [taylor]: Taking taylor expansion of phi2 in lambda2 20.901 * [backup-simplify]: Simplify phi2 into phi2 20.901 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 20.901 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 20.901 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 20.902 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 20.902 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 20.902 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 20.902 * [backup-simplify]: Simplify (- 0) into 0 20.902 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 20.902 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 20.902 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 20.902 * [taylor]: Taking taylor expansion of phi1 in lambda2 20.902 * [backup-simplify]: Simplify phi1 into phi1 20.902 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 20.902 * [taylor]: Taking taylor expansion of phi2 in lambda2 20.902 * [backup-simplify]: Simplify phi2 into phi2 20.902 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda2 20.902 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 20.902 * [taylor]: Taking taylor expansion of 2 in lambda2 20.903 * [backup-simplify]: Simplify 2 into 2 20.903 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 20.903 * [taylor]: Taking taylor expansion of phi1 in lambda2 20.903 * [backup-simplify]: Simplify phi1 into phi1 20.903 * [taylor]: Taking taylor expansion of phi2 in lambda2 20.903 * [backup-simplify]: Simplify phi2 into phi2 20.903 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 20.903 * [taylor]: Taking taylor expansion of 2 in lambda2 20.903 * [backup-simplify]: Simplify 2 into 2 20.903 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 20.903 * [taylor]: Taking taylor expansion of lambda2 in lambda2 20.903 * [backup-simplify]: Simplify 0 into 0 20.903 * [backup-simplify]: Simplify 1 into 1 20.903 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 20.903 * [taylor]: Taking taylor expansion of lambda1 in lambda2 20.903 * [backup-simplify]: Simplify lambda1 into lambda1 20.903 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 20.903 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 20.903 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 20.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2 20.903 * [backup-simplify]: Simplify 0.5 into 0.5 20.903 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 20.903 * [taylor]: Taking taylor expansion of phi1 in lambda2 20.903 * [backup-simplify]: Simplify phi1 into phi1 20.903 * [taylor]: Taking taylor expansion of phi2 in lambda2 20.903 * [backup-simplify]: Simplify phi2 into phi2 20.903 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 20.903 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 20.903 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 20.903 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 20.903 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 20.904 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 20.904 * [backup-simplify]: Simplify (- 0) into 0 20.904 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 20.904 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 20.904 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 20.905 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 20.905 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 20.905 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 20.905 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 20.906 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) 20.906 * [backup-simplify]: Simplify (+ 0 (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) into (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) 20.906 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 20.906 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 20.907 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 20.907 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 20.907 * [backup-simplify]: Simplify (* 0 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 20.908 * [backup-simplify]: Simplify (* 2 0) into 0 20.908 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 20.908 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 20.909 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2))) 20.910 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))) 20.911 * [backup-simplify]: Simplify (+ 0) into 0 20.911 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 20.912 * [backup-simplify]: Simplify (+ 0 0) into 0 20.912 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 20.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.914 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 20.914 * [backup-simplify]: Simplify (- 0) into 0 20.915 * [backup-simplify]: Simplify (+ 0 0) into 0 20.915 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 20.915 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 20.916 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 20.916 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 20.916 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 20.916 * [backup-simplify]: Simplify (+ 0 0) into 0 20.917 * [backup-simplify]: Simplify (+ 0 0) into 0 20.917 * [backup-simplify]: Simplify (+ 0 0) into 0 20.917 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 20.918 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 20.918 * [backup-simplify]: Simplify (+ 0) into 0 20.919 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 20.919 * [backup-simplify]: Simplify (+ 0 0) into 0 20.920 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 20.920 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.921 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 20.921 * [backup-simplify]: Simplify (- 0) into 0 20.922 * [backup-simplify]: Simplify (+ 0 0) into 0 20.922 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 20.922 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 20.923 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 20.924 * [backup-simplify]: Simplify (+ (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 20.924 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 20.925 * [backup-simplify]: Simplify (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 20.925 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 20.926 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2))))))) 20.927 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda1 20.927 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda1 20.927 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda1 20.927 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 20.927 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 20.927 * [taylor]: Taking taylor expansion of lambda2 in lambda1 20.927 * [backup-simplify]: Simplify lambda2 into lambda2 20.927 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 20.927 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 20.927 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 20.927 * [taylor]: Taking taylor expansion of 0.5 in lambda1 20.927 * [backup-simplify]: Simplify 0.5 into 0.5 20.927 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 20.927 * [taylor]: Taking taylor expansion of phi1 in lambda1 20.927 * [backup-simplify]: Simplify phi1 into phi1 20.927 * [taylor]: Taking taylor expansion of phi2 in lambda1 20.927 * [backup-simplify]: Simplify phi2 into phi2 20.927 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 20.927 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 20.927 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 20.927 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 20.928 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 20.928 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 20.928 * [backup-simplify]: Simplify (- 0) into 0 20.929 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 20.929 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda1 20.929 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 20.929 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 20.929 * [taylor]: Taking taylor expansion of lambda1 in lambda1 20.929 * [backup-simplify]: Simplify 0 into 0 20.929 * [backup-simplify]: Simplify 1 into 1 20.929 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 20.929 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 20.929 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 20.929 * [taylor]: Taking taylor expansion of 0.5 in lambda1 20.929 * [backup-simplify]: Simplify 0.5 into 0.5 20.929 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 20.929 * [taylor]: Taking taylor expansion of phi1 in lambda1 20.929 * [backup-simplify]: Simplify phi1 into phi1 20.929 * [taylor]: Taking taylor expansion of phi2 in lambda1 20.929 * [backup-simplify]: Simplify phi2 into phi2 20.929 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 20.929 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 20.929 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 20.929 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 20.930 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 20.930 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 20.930 * [backup-simplify]: Simplify (- 0) into 0 20.930 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 20.930 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda1 20.930 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 20.930 * [taylor]: Taking taylor expansion of phi1 in lambda1 20.930 * [backup-simplify]: Simplify phi1 into phi1 20.931 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 20.931 * [taylor]: Taking taylor expansion of phi2 in lambda1 20.931 * [backup-simplify]: Simplify phi2 into phi2 20.931 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda1 20.931 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda1 20.931 * [taylor]: Taking taylor expansion of 2 in lambda1 20.931 * [backup-simplify]: Simplify 2 into 2 20.931 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 20.931 * [taylor]: Taking taylor expansion of phi1 in lambda1 20.931 * [backup-simplify]: Simplify phi1 into phi1 20.931 * [taylor]: Taking taylor expansion of phi2 in lambda1 20.931 * [backup-simplify]: Simplify phi2 into phi2 20.931 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda1 20.931 * [taylor]: Taking taylor expansion of 2 in lambda1 20.931 * [backup-simplify]: Simplify 2 into 2 20.931 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda1 20.931 * [taylor]: Taking taylor expansion of lambda2 in lambda1 20.931 * [backup-simplify]: Simplify lambda2 into lambda2 20.931 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 20.931 * [taylor]: Taking taylor expansion of lambda1 in lambda1 20.931 * [backup-simplify]: Simplify 0 into 0 20.931 * [backup-simplify]: Simplify 1 into 1 20.931 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 20.931 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 20.931 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 20.931 * [taylor]: Taking taylor expansion of 0.5 in lambda1 20.931 * [backup-simplify]: Simplify 0.5 into 0.5 20.931 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 20.931 * [taylor]: Taking taylor expansion of phi1 in lambda1 20.931 * [backup-simplify]: Simplify phi1 into phi1 20.931 * [taylor]: Taking taylor expansion of phi2 in lambda1 20.931 * [backup-simplify]: Simplify phi2 into phi2 20.932 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 20.932 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 20.932 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 20.932 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 20.932 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 20.932 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 20.933 * [backup-simplify]: Simplify (- 0) into 0 20.933 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 20.933 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 20.933 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 20.933 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 20.933 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 20.934 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 20.934 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 20.934 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 20.935 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 20.935 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 20.935 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 20.935 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 20.936 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 20.936 * [backup-simplify]: Simplify (* lambda2 0) into 0 20.936 * [backup-simplify]: Simplify (* 2 0) into 0 20.936 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 20.937 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 20.938 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) 20.939 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) 20.939 * [backup-simplify]: Simplify (+ 0) into 0 20.940 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 20.940 * [backup-simplify]: Simplify (+ 0 0) into 0 20.941 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 20.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.942 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 20.943 * [backup-simplify]: Simplify (- 0) into 0 20.943 * [backup-simplify]: Simplify (+ 0 0) into 0 20.943 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 20.943 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 20.944 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 20.944 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 20.944 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 20.945 * [backup-simplify]: Simplify (+ 0 0) into 0 20.945 * [backup-simplify]: Simplify (+ 0 0) into 0 20.945 * [backup-simplify]: Simplify (+ 0 0) into 0 20.945 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 20.946 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 20.946 * [backup-simplify]: Simplify (+ 0) into 0 20.947 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 20.947 * [backup-simplify]: Simplify (+ 0 0) into 0 20.948 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 20.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.949 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 20.950 * [backup-simplify]: Simplify (- 0) into 0 20.950 * [backup-simplify]: Simplify (+ 0 0) into 0 20.950 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 20.951 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 20.952 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 20.953 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 20.953 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 20.953 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 20.954 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 20.956 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 20.956 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda1 20.956 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda1 20.956 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda1 20.956 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 20.956 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 20.956 * [taylor]: Taking taylor expansion of lambda2 in lambda1 20.956 * [backup-simplify]: Simplify lambda2 into lambda2 20.956 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 20.956 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 20.956 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 20.956 * [taylor]: Taking taylor expansion of 0.5 in lambda1 20.956 * [backup-simplify]: Simplify 0.5 into 0.5 20.956 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 20.956 * [taylor]: Taking taylor expansion of phi1 in lambda1 20.956 * [backup-simplify]: Simplify phi1 into phi1 20.956 * [taylor]: Taking taylor expansion of phi2 in lambda1 20.956 * [backup-simplify]: Simplify phi2 into phi2 20.956 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 20.956 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 20.956 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 20.957 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 20.957 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 20.957 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 20.957 * [backup-simplify]: Simplify (- 0) into 0 20.958 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 20.958 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda1 20.958 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 20.958 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 20.958 * [taylor]: Taking taylor expansion of lambda1 in lambda1 20.958 * [backup-simplify]: Simplify 0 into 0 20.958 * [backup-simplify]: Simplify 1 into 1 20.958 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 20.958 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 20.958 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 20.958 * [taylor]: Taking taylor expansion of 0.5 in lambda1 20.958 * [backup-simplify]: Simplify 0.5 into 0.5 20.958 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 20.958 * [taylor]: Taking taylor expansion of phi1 in lambda1 20.958 * [backup-simplify]: Simplify phi1 into phi1 20.958 * [taylor]: Taking taylor expansion of phi2 in lambda1 20.958 * [backup-simplify]: Simplify phi2 into phi2 20.958 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 20.958 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 20.958 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 20.958 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 20.959 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 20.959 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 20.959 * [backup-simplify]: Simplify (- 0) into 0 20.959 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 20.959 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda1 20.959 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 20.959 * [taylor]: Taking taylor expansion of phi1 in lambda1 20.959 * [backup-simplify]: Simplify phi1 into phi1 20.959 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 20.959 * [taylor]: Taking taylor expansion of phi2 in lambda1 20.959 * [backup-simplify]: Simplify phi2 into phi2 20.960 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda1 20.960 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda1 20.960 * [taylor]: Taking taylor expansion of 2 in lambda1 20.960 * [backup-simplify]: Simplify 2 into 2 20.960 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 20.960 * [taylor]: Taking taylor expansion of phi1 in lambda1 20.960 * [backup-simplify]: Simplify phi1 into phi1 20.960 * [taylor]: Taking taylor expansion of phi2 in lambda1 20.960 * [backup-simplify]: Simplify phi2 into phi2 20.960 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda1 20.960 * [taylor]: Taking taylor expansion of 2 in lambda1 20.960 * [backup-simplify]: Simplify 2 into 2 20.960 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda1 20.960 * [taylor]: Taking taylor expansion of lambda2 in lambda1 20.960 * [backup-simplify]: Simplify lambda2 into lambda2 20.960 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 20.960 * [taylor]: Taking taylor expansion of lambda1 in lambda1 20.960 * [backup-simplify]: Simplify 0 into 0 20.960 * [backup-simplify]: Simplify 1 into 1 20.960 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 20.960 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 20.960 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 20.960 * [taylor]: Taking taylor expansion of 0.5 in lambda1 20.960 * [backup-simplify]: Simplify 0.5 into 0.5 20.960 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 20.960 * [taylor]: Taking taylor expansion of phi1 in lambda1 20.960 * [backup-simplify]: Simplify phi1 into phi1 20.960 * [taylor]: Taking taylor expansion of phi2 in lambda1 20.960 * [backup-simplify]: Simplify phi2 into phi2 20.960 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 20.960 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 20.960 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 20.960 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 20.961 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 20.961 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 20.961 * [backup-simplify]: Simplify (- 0) into 0 20.961 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 20.961 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 20.962 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 20.962 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 20.962 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 20.962 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 20.962 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 20.963 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 20.963 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 20.963 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 20.964 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 20.964 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 20.964 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 20.964 * [backup-simplify]: Simplify (* lambda2 0) into 0 20.965 * [backup-simplify]: Simplify (* 2 0) into 0 20.965 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 20.965 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 20.966 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) 20.967 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) 20.968 * [backup-simplify]: Simplify (+ 0) into 0 20.969 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 20.969 * [backup-simplify]: Simplify (+ 0 0) into 0 20.969 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 20.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.971 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 20.971 * [backup-simplify]: Simplify (- 0) into 0 20.971 * [backup-simplify]: Simplify (+ 0 0) into 0 20.972 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 20.972 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 20.972 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 20.972 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 20.972 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 20.973 * [backup-simplify]: Simplify (+ 0 0) into 0 20.973 * [backup-simplify]: Simplify (+ 0 0) into 0 20.974 * [backup-simplify]: Simplify (+ 0 0) into 0 20.974 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 20.974 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 20.975 * [backup-simplify]: Simplify (+ 0) into 0 20.976 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 20.976 * [backup-simplify]: Simplify (+ 0 0) into 0 20.977 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 20.978 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 20.978 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 20.979 * [backup-simplify]: Simplify (- 0) into 0 20.979 * [backup-simplify]: Simplify (+ 0 0) into 0 20.980 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 20.980 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 20.981 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 20.982 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 20.982 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 20.983 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 20.983 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 20.984 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 20.984 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 20.985 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 20.985 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 20.985 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 20.985 * [taylor]: Taking taylor expansion of phi2 in lambda2 20.985 * [backup-simplify]: Simplify phi2 into phi2 20.985 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 20.985 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 20.985 * [taylor]: Taking taylor expansion of phi1 in lambda2 20.985 * [backup-simplify]: Simplify phi1 into phi1 20.985 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 20.985 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 20.985 * [taylor]: Taking taylor expansion of lambda2 in lambda2 20.985 * [backup-simplify]: Simplify 0 into 0 20.985 * [backup-simplify]: Simplify 1 into 1 20.985 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 20.985 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 20.985 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 20.985 * [taylor]: Taking taylor expansion of 0.5 in lambda2 20.985 * [backup-simplify]: Simplify 0.5 into 0.5 20.985 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 20.985 * [taylor]: Taking taylor expansion of phi1 in lambda2 20.985 * [backup-simplify]: Simplify phi1 into phi1 20.985 * [taylor]: Taking taylor expansion of phi2 in lambda2 20.985 * [backup-simplify]: Simplify phi2 into phi2 20.985 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 20.986 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 20.986 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 20.986 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 20.986 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 20.986 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 20.987 * [backup-simplify]: Simplify (- 0) into 0 20.987 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 20.987 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 20.987 * [taylor]: Taking taylor expansion of 2 in lambda2 20.987 * [backup-simplify]: Simplify 2 into 2 20.987 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 20.987 * [taylor]: Taking taylor expansion of phi1 in lambda2 20.987 * [backup-simplify]: Simplify phi1 into phi1 20.987 * [taylor]: Taking taylor expansion of phi2 in lambda2 20.987 * [backup-simplify]: Simplify phi2 into phi2 20.987 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 20.987 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 20.987 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 20.988 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 20.988 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 20.988 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 20.988 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 20.988 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 20.989 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 20.989 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 20.989 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 20.992 * [backup-simplify]: Simplify (+ 0 0) into 0 20.993 * [backup-simplify]: Simplify (+ 0 0) into 0 20.993 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 20.994 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 20.994 * [backup-simplify]: Simplify (- 0) into 0 20.994 * [backup-simplify]: Simplify (+ 0 0) into 0 20.995 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0 20.995 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 20.995 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 20.995 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 20.995 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 20.995 * [taylor]: Taking taylor expansion of phi2 in phi1 20.995 * [backup-simplify]: Simplify phi2 into phi2 20.995 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 20.995 * [taylor]: Taking taylor expansion of phi1 in phi1 20.995 * [backup-simplify]: Simplify 0 into 0 20.995 * [backup-simplify]: Simplify 1 into 1 20.995 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 20.995 * [taylor]: Taking taylor expansion of 2 in phi1 20.996 * [backup-simplify]: Simplify 2 into 2 20.996 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 20.996 * [taylor]: Taking taylor expansion of phi1 in phi1 20.996 * [backup-simplify]: Simplify 0 into 0 20.996 * [backup-simplify]: Simplify 1 into 1 20.996 * [taylor]: Taking taylor expansion of phi2 in phi1 20.996 * [backup-simplify]: Simplify phi2 into phi2 20.996 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 20.996 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 20.996 * [backup-simplify]: Simplify (* 0 phi2) into 0 20.996 * [backup-simplify]: Simplify (* 2 0) into 0 20.997 * [backup-simplify]: Simplify (- 0) into 0 20.997 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 20.997 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 20.997 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 20.998 * [backup-simplify]: Simplify (+ 0 0) into 0 20.998 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 20.998 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 20.999 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 20.999 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 20.999 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 20.999 * [taylor]: Taking taylor expansion of phi2 in phi2 20.999 * [backup-simplify]: Simplify 0 into 0 20.999 * [backup-simplify]: Simplify 1 into 1 20.999 * [backup-simplify]: Simplify 0 into 0 20.999 * [taylor]: Taking taylor expansion of (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2 20.999 * [taylor]: Taking taylor expansion of -1 in lambda2 20.999 * [backup-simplify]: Simplify -1 into -1 20.999 * [taylor]: Taking taylor expansion of (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2 20.999 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 20.999 * [taylor]: Taking taylor expansion of lambda2 in lambda2 20.999 * [backup-simplify]: Simplify 0 into 0 20.999 * [backup-simplify]: Simplify 1 into 1 20.999 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 20.999 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.000 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.000 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.000 * [backup-simplify]: Simplify 0.5 into 0.5 21.000 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.000 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.000 * [backup-simplify]: Simplify phi1 into phi1 21.000 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.000 * [backup-simplify]: Simplify phi2 into phi2 21.000 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.000 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.000 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.000 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.000 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.000 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.001 * [backup-simplify]: Simplify (- 0) into 0 21.001 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.001 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 21.001 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 21.001 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 21.001 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 21.001 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.001 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.001 * [backup-simplify]: Simplify phi2 into phi2 21.001 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 21.001 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.001 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.001 * [backup-simplify]: Simplify phi1 into phi1 21.001 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 21.001 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.001 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.001 * [backup-simplify]: Simplify 0 into 0 21.002 * [backup-simplify]: Simplify 1 into 1 21.002 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.002 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.002 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.002 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.002 * [backup-simplify]: Simplify 0.5 into 0.5 21.002 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.002 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.002 * [backup-simplify]: Simplify phi1 into phi1 21.002 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.002 * [backup-simplify]: Simplify phi2 into phi2 21.002 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.002 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.002 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.002 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.002 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.002 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.003 * [backup-simplify]: Simplify (- 0) into 0 21.003 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.003 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 21.003 * [taylor]: Taking taylor expansion of 2 in lambda2 21.003 * [backup-simplify]: Simplify 2 into 2 21.003 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.003 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.003 * [backup-simplify]: Simplify phi1 into phi1 21.003 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.003 * [backup-simplify]: Simplify phi2 into phi2 21.003 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.003 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.004 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 21.004 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 21.004 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.004 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 21.004 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 21.005 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 21.005 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 21.005 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) 21.006 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.006 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.006 * [backup-simplify]: Simplify (+ 0 0) into 0 21.006 * [backup-simplify]: Simplify (+ 0 0) into 0 21.007 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.007 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 21.007 * [backup-simplify]: Simplify (- 0) into 0 21.008 * [backup-simplify]: Simplify (+ 0 0) into 0 21.009 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 21.009 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 21.010 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.010 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 21.010 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0 21.011 * [backup-simplify]: Simplify (* -1 0) into 0 21.011 * [taylor]: Taking taylor expansion of 0 in phi1 21.011 * [backup-simplify]: Simplify 0 into 0 21.011 * [taylor]: Taking taylor expansion of 0 in phi2 21.011 * [backup-simplify]: Simplify 0 into 0 21.011 * [backup-simplify]: Simplify 0 into 0 21.011 * [taylor]: Taking taylor expansion of 0 in phi1 21.011 * [backup-simplify]: Simplify 0 into 0 21.011 * [taylor]: Taking taylor expansion of 0 in phi2 21.011 * [backup-simplify]: Simplify 0 into 0 21.011 * [backup-simplify]: Simplify 0 into 0 21.011 * [taylor]: Taking taylor expansion of -1 in phi2 21.011 * [backup-simplify]: Simplify -1 into -1 21.011 * [backup-simplify]: Simplify -1 into -1 21.011 * [backup-simplify]: Simplify 1 into 1 21.012 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.013 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0 21.014 * [backup-simplify]: Simplify (+ 0 0) into 0 21.014 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0 21.015 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.016 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0 21.016 * [backup-simplify]: Simplify (- 0) into 0 21.017 * [backup-simplify]: Simplify (+ 0 0) into 0 21.017 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0 21.018 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 21.018 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into 0 21.019 * [backup-simplify]: Simplify (* 1 1) into 1 21.019 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.019 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.020 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 21.020 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 21.021 * [backup-simplify]: Simplify (+ 0 0) into 0 21.021 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.021 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.022 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0 21.023 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0 21.024 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.024 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0 21.025 * [backup-simplify]: Simplify (+ 0 0) into 0 21.026 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0 21.026 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.027 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0 21.027 * [backup-simplify]: Simplify (- 0) into 0 21.028 * [backup-simplify]: Simplify (+ 0 0) into 0 21.028 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0 21.029 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into 0 21.030 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0))) into 0 21.031 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0))) into 0 21.032 * [backup-simplify]: Simplify (+ 0 0) into 0 21.032 * [backup-simplify]: Simplify (- 0) into 0 21.032 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.036 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 21.036 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2 21.036 * [taylor]: Taking taylor expansion of 1/2 in lambda2 21.036 * [backup-simplify]: Simplify 1/2 into 1/2 21.036 * [taylor]: Taking taylor expansion of (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2 21.036 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 21.036 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.037 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.037 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.037 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.037 * [backup-simplify]: Simplify 0.5 into 0.5 21.037 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.037 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.037 * [backup-simplify]: Simplify phi1 into phi1 21.037 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.037 * [backup-simplify]: Simplify phi2 into phi2 21.037 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.037 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.037 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.037 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.037 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.037 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.038 * [backup-simplify]: Simplify (- 0) into 0 21.038 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.038 * [taylor]: Taking taylor expansion of (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 21.038 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) in lambda2 21.038 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.038 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.038 * [backup-simplify]: Simplify 0 into 0 21.038 * [backup-simplify]: Simplify 1 into 1 21.038 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 4) in lambda2 21.038 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.038 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.038 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.038 * [backup-simplify]: Simplify 0.5 into 0.5 21.038 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.039 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.039 * [backup-simplify]: Simplify phi1 into phi1 21.039 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.039 * [backup-simplify]: Simplify phi2 into phi2 21.039 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.039 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.039 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.039 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.039 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.039 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.040 * [backup-simplify]: Simplify (- 0) into 0 21.040 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.040 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 21.040 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 21.040 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.040 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.040 * [backup-simplify]: Simplify phi2 into phi2 21.040 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 21.040 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.040 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.040 * [backup-simplify]: Simplify phi1 into phi1 21.040 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 21.040 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.040 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.040 * [backup-simplify]: Simplify 0 into 0 21.040 * [backup-simplify]: Simplify 1 into 1 21.040 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.040 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.040 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.040 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.040 * [backup-simplify]: Simplify 0.5 into 0.5 21.040 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.040 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.041 * [backup-simplify]: Simplify phi1 into phi1 21.041 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.041 * [backup-simplify]: Simplify phi2 into phi2 21.041 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.041 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.041 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.041 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.041 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.041 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.042 * [backup-simplify]: Simplify (- 0) into 0 21.042 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.042 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 21.042 * [taylor]: Taking taylor expansion of 2 in lambda2 21.042 * [backup-simplify]: Simplify 2 into 2 21.042 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.042 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.042 * [backup-simplify]: Simplify phi1 into phi1 21.042 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.042 * [backup-simplify]: Simplify phi2 into phi2 21.042 * [backup-simplify]: Simplify (* 1 1) into 1 21.043 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.043 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4) 21.043 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 4)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4) 21.043 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.043 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.044 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 21.044 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 21.044 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.044 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 21.044 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 21.045 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 21.045 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 21.045 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 21.045 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 21.045 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 21.045 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 21.045 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.045 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.045 * [backup-simplify]: Simplify phi2 into phi2 21.046 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 21.046 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.046 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.046 * [backup-simplify]: Simplify phi1 into phi1 21.046 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 21.046 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.046 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.046 * [backup-simplify]: Simplify 0 into 0 21.046 * [backup-simplify]: Simplify 1 into 1 21.046 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.046 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.046 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.046 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.046 * [backup-simplify]: Simplify 0.5 into 0.5 21.046 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.046 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.046 * [backup-simplify]: Simplify phi1 into phi1 21.046 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.046 * [backup-simplify]: Simplify phi2 into phi2 21.046 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.046 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.046 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.046 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.047 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.047 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.047 * [backup-simplify]: Simplify (- 0) into 0 21.047 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.047 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 21.047 * [taylor]: Taking taylor expansion of 2 in lambda2 21.048 * [backup-simplify]: Simplify 2 into 2 21.048 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.048 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.048 * [backup-simplify]: Simplify phi1 into phi1 21.048 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.048 * [backup-simplify]: Simplify phi2 into phi2 21.048 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.048 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.048 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 21.048 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 21.048 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.048 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 21.048 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 21.049 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 21.049 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 21.050 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) 21.050 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.050 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.050 * [backup-simplify]: Simplify (+ 0 0) into 0 21.051 * [backup-simplify]: Simplify (+ 0 0) into 0 21.051 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.052 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 21.052 * [backup-simplify]: Simplify (- 0) into 0 21.052 * [backup-simplify]: Simplify (+ 0 0) into 0 21.053 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 21.054 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 21.054 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.054 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.055 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 21.056 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.056 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 21.056 * [taylor]: Taking taylor expansion of 1/2 in phi1 21.056 * [backup-simplify]: Simplify 1/2 into 1/2 21.056 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 21.056 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 21.056 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 21.056 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 21.056 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 21.056 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.056 * [taylor]: Taking taylor expansion of phi2 in phi1 21.056 * [backup-simplify]: Simplify phi2 into phi2 21.056 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.056 * [taylor]: Taking taylor expansion of phi1 in phi1 21.056 * [backup-simplify]: Simplify 0 into 0 21.056 * [backup-simplify]: Simplify 1 into 1 21.056 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 21.056 * [taylor]: Taking taylor expansion of 2 in phi1 21.056 * [backup-simplify]: Simplify 2 into 2 21.056 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.056 * [taylor]: Taking taylor expansion of phi1 in phi1 21.056 * [backup-simplify]: Simplify 0 into 0 21.056 * [backup-simplify]: Simplify 1 into 1 21.056 * [taylor]: Taking taylor expansion of phi2 in phi1 21.056 * [backup-simplify]: Simplify phi2 into phi2 21.056 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.057 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.057 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.057 * [backup-simplify]: Simplify (* 2 0) into 0 21.058 * [backup-simplify]: Simplify (- 0) into 0 21.058 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.058 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.058 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 21.058 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.059 * [backup-simplify]: Simplify (+ 0 0) into 0 21.059 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.059 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 21.060 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 21.060 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 21.060 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 21.060 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 21.060 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 21.061 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 21.061 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 21.061 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.061 * [backup-simplify]: Simplify 0.5 into 0.5 21.061 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 21.061 * [taylor]: Taking taylor expansion of phi1 in phi1 21.061 * [backup-simplify]: Simplify 0 into 0 21.061 * [backup-simplify]: Simplify 1 into 1 21.061 * [taylor]: Taking taylor expansion of phi2 in phi1 21.061 * [backup-simplify]: Simplify phi2 into phi2 21.061 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 21.061 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 21.061 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 21.061 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 21.061 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 21.061 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 21.062 * [backup-simplify]: Simplify (- 0) into 0 21.062 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 21.062 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 21.062 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 21.063 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 21.063 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 21.063 * [taylor]: Taking taylor expansion of 1/2 in phi2 21.063 * [backup-simplify]: Simplify 1/2 into 1/2 21.063 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 21.063 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 21.063 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 21.063 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 21.063 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.063 * [backup-simplify]: Simplify 0.5 into 0.5 21.063 * [taylor]: Taking taylor expansion of phi2 in phi2 21.063 * [backup-simplify]: Simplify 0 into 0 21.063 * [backup-simplify]: Simplify 1 into 1 21.063 * [backup-simplify]: Simplify (* 0.5 0) into 0 21.065 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 21.065 * [taylor]: Taking taylor expansion of phi2 in phi2 21.065 * [backup-simplify]: Simplify 0 into 0 21.065 * [backup-simplify]: Simplify 1 into 1 21.065 * [backup-simplify]: Simplify (* 1 1) into 1 21.066 * [backup-simplify]: Simplify (/ 1 1) into 1 21.066 * [backup-simplify]: Simplify (+ 0) into 0 21.067 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.068 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 21.068 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 21.068 * [backup-simplify]: Simplify 0 into 0 21.069 * [backup-simplify]: Simplify (+ 0) into 0 21.069 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 21.070 * [backup-simplify]: Simplify (+ 0 0) into 0 21.070 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 21.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.072 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 21.072 * [backup-simplify]: Simplify (- 0) into 0 21.072 * [backup-simplify]: Simplify (+ 0 0) into 0 21.073 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 21.073 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.074 * [backup-simplify]: Simplify (+ (* 0 0) (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 21.076 * [backup-simplify]: Simplify (+ (* -1 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.076 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 21.076 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 21.076 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 21.076 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 21.076 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 21.076 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 21.076 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.076 * [taylor]: Taking taylor expansion of phi2 in phi1 21.076 * [backup-simplify]: Simplify phi2 into phi2 21.076 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.076 * [taylor]: Taking taylor expansion of phi1 in phi1 21.076 * [backup-simplify]: Simplify 0 into 0 21.076 * [backup-simplify]: Simplify 1 into 1 21.076 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 21.076 * [taylor]: Taking taylor expansion of 2 in phi1 21.076 * [backup-simplify]: Simplify 2 into 2 21.076 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.076 * [taylor]: Taking taylor expansion of phi1 in phi1 21.076 * [backup-simplify]: Simplify 0 into 0 21.076 * [backup-simplify]: Simplify 1 into 1 21.076 * [taylor]: Taking taylor expansion of phi2 in phi1 21.076 * [backup-simplify]: Simplify phi2 into phi2 21.076 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.077 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.077 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.077 * [backup-simplify]: Simplify (* 2 0) into 0 21.078 * [backup-simplify]: Simplify (- 0) into 0 21.078 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.078 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.078 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 21.078 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.079 * [backup-simplify]: Simplify (+ 0 0) into 0 21.079 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.079 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 21.080 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 21.080 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 21.080 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 21.081 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 21.081 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 21.081 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 21.081 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 21.081 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.081 * [backup-simplify]: Simplify 0.5 into 0.5 21.081 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 21.081 * [taylor]: Taking taylor expansion of phi1 in phi1 21.081 * [backup-simplify]: Simplify 0 into 0 21.081 * [backup-simplify]: Simplify 1 into 1 21.081 * [taylor]: Taking taylor expansion of phi2 in phi1 21.081 * [backup-simplify]: Simplify phi2 into phi2 21.081 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 21.081 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 21.081 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 21.081 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 21.081 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 21.081 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 21.082 * [backup-simplify]: Simplify (- 0) into 0 21.082 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 21.082 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 21.083 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 21.083 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 21.083 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 21.083 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 21.083 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 21.083 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 21.083 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 21.083 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.083 * [backup-simplify]: Simplify 0.5 into 0.5 21.083 * [taylor]: Taking taylor expansion of phi2 in phi2 21.083 * [backup-simplify]: Simplify 0 into 0 21.083 * [backup-simplify]: Simplify 1 into 1 21.084 * [backup-simplify]: Simplify (* 0.5 0) into 0 21.085 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 21.085 * [taylor]: Taking taylor expansion of phi2 in phi2 21.086 * [backup-simplify]: Simplify 0 into 0 21.086 * [backup-simplify]: Simplify 1 into 1 21.086 * [backup-simplify]: Simplify (* 1 1) into 1 21.086 * [backup-simplify]: Simplify (/ 1 1) into 1 21.087 * [backup-simplify]: Simplify (+ 0) into 0 21.088 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.088 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 21.089 * [backup-simplify]: Simplify (- 0) into 0 21.089 * [backup-simplify]: Simplify 0 into 0 21.089 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 21.090 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 21.090 * [backup-simplify]: Simplify (* 1 1) into 1 21.090 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.090 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.091 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.091 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.091 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0 21.092 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0 21.093 * [backup-simplify]: Simplify (- 0) into 0 21.093 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.094 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow 0 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.094 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 21.094 * [taylor]: Taking taylor expansion of 1/2 in phi1 21.094 * [backup-simplify]: Simplify 1/2 into 1/2 21.094 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 21.094 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 21.094 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 21.094 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 21.094 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 21.094 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.094 * [taylor]: Taking taylor expansion of phi2 in phi1 21.094 * [backup-simplify]: Simplify phi2 into phi2 21.095 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.095 * [taylor]: Taking taylor expansion of phi1 in phi1 21.095 * [backup-simplify]: Simplify 0 into 0 21.095 * [backup-simplify]: Simplify 1 into 1 21.095 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 21.095 * [taylor]: Taking taylor expansion of 2 in phi1 21.095 * [backup-simplify]: Simplify 2 into 2 21.095 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.095 * [taylor]: Taking taylor expansion of phi1 in phi1 21.095 * [backup-simplify]: Simplify 0 into 0 21.095 * [backup-simplify]: Simplify 1 into 1 21.095 * [taylor]: Taking taylor expansion of phi2 in phi1 21.095 * [backup-simplify]: Simplify phi2 into phi2 21.095 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.095 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.095 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.096 * [backup-simplify]: Simplify (* 2 0) into 0 21.096 * [backup-simplify]: Simplify (- 0) into 0 21.097 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.097 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.097 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 21.097 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.097 * [backup-simplify]: Simplify (+ 0 0) into 0 21.098 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.098 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 21.098 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 21.098 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 21.099 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 21.099 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 21.099 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 21.099 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 21.099 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 21.099 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.099 * [backup-simplify]: Simplify 0.5 into 0.5 21.099 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 21.099 * [taylor]: Taking taylor expansion of phi1 in phi1 21.099 * [backup-simplify]: Simplify 0 into 0 21.099 * [backup-simplify]: Simplify 1 into 1 21.099 * [taylor]: Taking taylor expansion of phi2 in phi1 21.099 * [backup-simplify]: Simplify phi2 into phi2 21.099 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 21.099 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 21.099 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 21.100 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 21.100 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 21.100 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 21.100 * [backup-simplify]: Simplify (- 0) into 0 21.100 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 21.100 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 21.101 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 21.101 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 21.101 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 21.101 * [taylor]: Taking taylor expansion of 1/2 in phi2 21.101 * [backup-simplify]: Simplify 1/2 into 1/2 21.101 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 21.101 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 21.101 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 21.101 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 21.101 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.101 * [backup-simplify]: Simplify 0.5 into 0.5 21.101 * [taylor]: Taking taylor expansion of phi2 in phi2 21.101 * [backup-simplify]: Simplify 0 into 0 21.101 * [backup-simplify]: Simplify 1 into 1 21.102 * [backup-simplify]: Simplify (* 0.5 0) into 0 21.103 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 21.103 * [taylor]: Taking taylor expansion of phi2 in phi2 21.103 * [backup-simplify]: Simplify 0 into 0 21.103 * [backup-simplify]: Simplify 1 into 1 21.103 * [backup-simplify]: Simplify (* 1 1) into 1 21.104 * [backup-simplify]: Simplify (/ 1 1) into 1 21.104 * [backup-simplify]: Simplify (+ 0) into 0 21.105 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.105 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 21.106 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 21.106 * [backup-simplify]: Simplify 0 into 0 21.106 * [taylor]: Taking taylor expansion of 0 in phi2 21.106 * [backup-simplify]: Simplify 0 into 0 21.106 * [backup-simplify]: Simplify 0 into 0 21.106 * [taylor]: Taking taylor expansion of 0 in phi2 21.106 * [backup-simplify]: Simplify 0 into 0 21.106 * [backup-simplify]: Simplify 0 into 0 21.107 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 21.107 * [backup-simplify]: Simplify (* 1 1) into 1 21.107 * [backup-simplify]: Simplify (+ 0 1) into 1 21.108 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi2))) into 0 21.109 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 21.109 * [backup-simplify]: Simplify (- 0) into 0 21.110 * [backup-simplify]: Simplify (+ 1 0) into 1 21.110 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 21.110 * [taylor]: Taking taylor expansion of 0 in phi2 21.110 * [backup-simplify]: Simplify 0 into 0 21.110 * [backup-simplify]: Simplify 0 into 0 21.111 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 21.112 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) 21.112 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in (lambda1 lambda2 phi1 phi2) around 0 21.112 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in phi2 21.113 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in phi2 21.113 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in phi2 21.113 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 21.113 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.113 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.113 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.113 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.113 * [backup-simplify]: Simplify 0.5 into 0.5 21.113 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.113 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.113 * [taylor]: Taking taylor expansion of phi1 in phi2 21.113 * [backup-simplify]: Simplify phi1 into phi1 21.113 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.113 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.113 * [taylor]: Taking taylor expansion of phi2 in phi2 21.113 * [backup-simplify]: Simplify 0 into 0 21.113 * [backup-simplify]: Simplify 1 into 1 21.113 * [backup-simplify]: Simplify (/ 1 1) into 1 21.114 * [backup-simplify]: Simplify (+ 0 1) into 1 21.114 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.114 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.114 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 21.114 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.114 * [backup-simplify]: Simplify lambda1 into lambda1 21.115 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.115 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.115 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.115 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in phi2 21.115 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 21.115 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.115 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.115 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.115 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.115 * [backup-simplify]: Simplify 0.5 into 0.5 21.115 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.116 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.116 * [taylor]: Taking taylor expansion of phi1 in phi2 21.116 * [backup-simplify]: Simplify phi1 into phi1 21.116 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.116 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.116 * [taylor]: Taking taylor expansion of phi2 in phi2 21.116 * [backup-simplify]: Simplify 0 into 0 21.116 * [backup-simplify]: Simplify 1 into 1 21.116 * [backup-simplify]: Simplify (/ 1 1) into 1 21.117 * [backup-simplify]: Simplify (+ 0 1) into 1 21.117 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.117 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.117 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 21.117 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.117 * [backup-simplify]: Simplify lambda2 into lambda2 21.118 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.118 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.118 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.118 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in phi2 21.118 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 21.118 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 21.118 * [taylor]: Taking taylor expansion of phi1 in phi2 21.118 * [backup-simplify]: Simplify phi1 into phi1 21.118 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.119 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.119 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 21.119 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 21.119 * [taylor]: Taking taylor expansion of phi2 in phi2 21.119 * [backup-simplify]: Simplify 0 into 0 21.119 * [backup-simplify]: Simplify 1 into 1 21.119 * [backup-simplify]: Simplify (* 1 1) into 1 21.120 * [backup-simplify]: Simplify (/ 1 1) into 1 21.120 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in phi2 21.120 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2 21.120 * [taylor]: Taking taylor expansion of 2 in phi2 21.120 * [backup-simplify]: Simplify 2 into 2 21.120 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2 21.120 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 21.120 * [taylor]: Taking taylor expansion of phi1 in phi2 21.120 * [backup-simplify]: Simplify phi1 into phi1 21.120 * [taylor]: Taking taylor expansion of phi2 in phi2 21.120 * [backup-simplify]: Simplify 0 into 0 21.120 * [backup-simplify]: Simplify 1 into 1 21.120 * [backup-simplify]: Simplify (* phi1 0) into 0 21.120 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 21.120 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.121 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in phi2 21.121 * [taylor]: Taking taylor expansion of 2 in phi2 21.121 * [backup-simplify]: Simplify 2 into 2 21.121 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in phi2 21.121 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.121 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.121 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.121 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.121 * [backup-simplify]: Simplify 0.5 into 0.5 21.121 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.121 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.121 * [taylor]: Taking taylor expansion of phi1 in phi2 21.121 * [backup-simplify]: Simplify phi1 into phi1 21.121 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.121 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.121 * [taylor]: Taking taylor expansion of phi2 in phi2 21.121 * [backup-simplify]: Simplify 0 into 0 21.121 * [backup-simplify]: Simplify 1 into 1 21.121 * [backup-simplify]: Simplify (/ 1 1) into 1 21.122 * [backup-simplify]: Simplify (+ 0 1) into 1 21.122 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.123 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.123 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in phi2 21.123 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.123 * [backup-simplify]: Simplify lambda1 into lambda1 21.123 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.123 * [backup-simplify]: Simplify lambda2 into lambda2 21.123 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.123 * [backup-simplify]: Simplify (* lambda1 lambda2) into (* lambda2 lambda1) 21.124 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) 21.125 * [backup-simplify]: Simplify (+ 0 1) into 1 21.125 * [backup-simplify]: Simplify (+ 0 1) into 1 21.125 * [backup-simplify]: Simplify (+ 0 1) into 1 21.126 * [backup-simplify]: Simplify (+ 1 0) into 1 21.127 * [backup-simplify]: Simplify (sqrt 1) into 1 21.127 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.128 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.129 * [backup-simplify]: Simplify (+ 0 0) into 0 21.129 * [backup-simplify]: Simplify (+ 0 0) into 0 21.129 * [backup-simplify]: Simplify (+ 0 0) into 0 21.130 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 21.130 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 21.130 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 21.130 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 21.131 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 21.131 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in phi1 21.131 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in phi1 21.131 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in phi1 21.131 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 21.131 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.131 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.131 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.131 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.131 * [backup-simplify]: Simplify 0.5 into 0.5 21.131 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.131 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.131 * [taylor]: Taking taylor expansion of phi1 in phi1 21.131 * [backup-simplify]: Simplify 0 into 0 21.131 * [backup-simplify]: Simplify 1 into 1 21.132 * [backup-simplify]: Simplify (/ 1 1) into 1 21.132 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.132 * [taylor]: Taking taylor expansion of phi2 in phi1 21.132 * [backup-simplify]: Simplify phi2 into phi2 21.132 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.132 * [backup-simplify]: Simplify (+ 1 0) into 1 21.133 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.133 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.133 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 21.133 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.133 * [backup-simplify]: Simplify lambda1 into lambda1 21.133 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.133 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.134 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.134 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in phi1 21.134 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 21.134 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.134 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.134 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.134 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.134 * [backup-simplify]: Simplify 0.5 into 0.5 21.134 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.134 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.134 * [taylor]: Taking taylor expansion of phi1 in phi1 21.134 * [backup-simplify]: Simplify 0 into 0 21.134 * [backup-simplify]: Simplify 1 into 1 21.135 * [backup-simplify]: Simplify (/ 1 1) into 1 21.135 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.135 * [taylor]: Taking taylor expansion of phi2 in phi1 21.135 * [backup-simplify]: Simplify phi2 into phi2 21.135 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.136 * [backup-simplify]: Simplify (+ 1 0) into 1 21.136 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.136 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.136 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 21.136 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.136 * [backup-simplify]: Simplify lambda2 into lambda2 21.137 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.137 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.137 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.137 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in phi1 21.137 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 21.137 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.137 * [taylor]: Taking taylor expansion of phi1 in phi1 21.137 * [backup-simplify]: Simplify 0 into 0 21.137 * [backup-simplify]: Simplify 1 into 1 21.138 * [backup-simplify]: Simplify (* 1 1) into 1 21.138 * [backup-simplify]: Simplify (/ 1 1) into 1 21.138 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 21.139 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.139 * [taylor]: Taking taylor expansion of phi2 in phi1 21.139 * [backup-simplify]: Simplify phi2 into phi2 21.139 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.139 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.139 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in phi1 21.139 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 21.139 * [taylor]: Taking taylor expansion of 2 in phi1 21.139 * [backup-simplify]: Simplify 2 into 2 21.139 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 21.139 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.139 * [taylor]: Taking taylor expansion of phi1 in phi1 21.139 * [backup-simplify]: Simplify 0 into 0 21.139 * [backup-simplify]: Simplify 1 into 1 21.139 * [taylor]: Taking taylor expansion of phi2 in phi1 21.139 * [backup-simplify]: Simplify phi2 into phi2 21.139 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.140 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.140 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.140 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in phi1 21.140 * [taylor]: Taking taylor expansion of 2 in phi1 21.140 * [backup-simplify]: Simplify 2 into 2 21.140 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in phi1 21.140 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.140 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.140 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.140 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.140 * [backup-simplify]: Simplify 0.5 into 0.5 21.140 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.140 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.140 * [taylor]: Taking taylor expansion of phi1 in phi1 21.140 * [backup-simplify]: Simplify 0 into 0 21.140 * [backup-simplify]: Simplify 1 into 1 21.141 * [backup-simplify]: Simplify (/ 1 1) into 1 21.141 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.141 * [taylor]: Taking taylor expansion of phi2 in phi1 21.141 * [backup-simplify]: Simplify phi2 into phi2 21.141 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.141 * [backup-simplify]: Simplify (+ 1 0) into 1 21.142 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.142 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.142 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in phi1 21.142 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.142 * [backup-simplify]: Simplify lambda1 into lambda1 21.142 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.142 * [backup-simplify]: Simplify lambda2 into lambda2 21.143 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.143 * [backup-simplify]: Simplify (* lambda1 lambda2) into (* lambda2 lambda1) 21.143 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) 21.144 * [backup-simplify]: Simplify (+ 1 0) into 1 21.144 * [backup-simplify]: Simplify (+ 0 1) into 1 21.145 * [backup-simplify]: Simplify (+ 0 1) into 1 21.145 * [backup-simplify]: Simplify (+ 1 0) into 1 21.145 * [backup-simplify]: Simplify (sqrt 1) into 1 21.146 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.147 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.148 * [backup-simplify]: Simplify (+ 0 0) into 0 21.148 * [backup-simplify]: Simplify (+ 0 0) into 0 21.149 * [backup-simplify]: Simplify (+ 0 0) into 0 21.149 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 21.149 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 21.149 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 21.149 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 21.150 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 21.150 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda2 21.151 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda2 21.151 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda2 21.151 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 21.151 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.151 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.151 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.151 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.151 * [backup-simplify]: Simplify 0.5 into 0.5 21.151 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.151 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.151 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.151 * [backup-simplify]: Simplify phi1 into phi1 21.151 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.151 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.151 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.151 * [backup-simplify]: Simplify phi2 into phi2 21.151 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.151 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.152 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.152 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.152 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.152 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.153 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.153 * [backup-simplify]: Simplify (- 0) into 0 21.153 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.153 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 21.154 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.154 * [backup-simplify]: Simplify lambda1 into lambda1 21.154 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.154 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.154 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.154 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda2 21.155 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 21.155 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.155 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.155 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.155 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.155 * [backup-simplify]: Simplify 0.5 into 0.5 21.155 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.155 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.155 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.155 * [backup-simplify]: Simplify phi1 into phi1 21.155 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.155 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.155 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.155 * [backup-simplify]: Simplify phi2 into phi2 21.155 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.155 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.155 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.155 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.156 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.156 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.156 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.157 * [backup-simplify]: Simplify (- 0) into 0 21.157 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.157 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.157 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.157 * [backup-simplify]: Simplify 0 into 0 21.157 * [backup-simplify]: Simplify 1 into 1 21.157 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.158 * [backup-simplify]: Simplify (* 1 1) into 1 21.158 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.158 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2 21.158 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 21.158 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.158 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.158 * [backup-simplify]: Simplify phi1 into phi1 21.158 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.158 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.158 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 21.159 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.159 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.159 * [backup-simplify]: Simplify phi2 into phi2 21.159 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.159 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.159 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda2 21.159 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 21.159 * [taylor]: Taking taylor expansion of 2 in lambda2 21.159 * [backup-simplify]: Simplify 2 into 2 21.159 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 21.159 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.159 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.159 * [backup-simplify]: Simplify phi1 into phi1 21.159 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.159 * [backup-simplify]: Simplify phi2 into phi2 21.159 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.159 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.159 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda2 21.159 * [taylor]: Taking taylor expansion of 2 in lambda2 21.159 * [backup-simplify]: Simplify 2 into 2 21.159 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda2 21.159 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.159 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.160 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.160 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.160 * [backup-simplify]: Simplify 0.5 into 0.5 21.160 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.160 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.160 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.160 * [backup-simplify]: Simplify phi1 into phi1 21.160 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.160 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.160 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.160 * [backup-simplify]: Simplify phi2 into phi2 21.160 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.160 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.160 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.161 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.161 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.161 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.161 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.162 * [backup-simplify]: Simplify (- 0) into 0 21.162 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.162 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda2 21.162 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.162 * [backup-simplify]: Simplify lambda1 into lambda1 21.162 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.162 * [backup-simplify]: Simplify 0 into 0 21.162 * [backup-simplify]: Simplify 1 into 1 21.162 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.162 * [backup-simplify]: Simplify (* lambda1 0) into 0 21.167 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 21.167 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 21.168 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.168 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.168 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.169 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.169 * [backup-simplify]: Simplify (+ 0) into 0 21.170 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.170 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.171 * [backup-simplify]: Simplify (+ 0 0) into 0 21.171 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.172 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.173 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.173 * [backup-simplify]: Simplify (- 0) into 0 21.173 * [backup-simplify]: Simplify (+ 0 0) into 0 21.174 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.175 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.175 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 21.176 * [backup-simplify]: Simplify (+ 0 0) into 0 21.176 * [backup-simplify]: Simplify (+ 0 0) into 0 21.176 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 21.176 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 21.177 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 21.177 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 21.177 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 21.177 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda1 21.177 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda1 21.177 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda1 21.177 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 21.177 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.177 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.177 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.178 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.178 * [backup-simplify]: Simplify 0.5 into 0.5 21.178 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.178 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.178 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.178 * [backup-simplify]: Simplify phi1 into phi1 21.178 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.178 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.178 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.178 * [backup-simplify]: Simplify phi2 into phi2 21.178 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.178 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.178 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.178 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.178 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.178 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.178 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.179 * [backup-simplify]: Simplify (- 0) into 0 21.179 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.179 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 21.179 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.179 * [backup-simplify]: Simplify 0 into 0 21.179 * [backup-simplify]: Simplify 1 into 1 21.179 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.179 * [backup-simplify]: Simplify (* 1 1) into 1 21.179 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.179 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda1 21.179 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 21.179 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.179 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.179 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.180 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.180 * [backup-simplify]: Simplify 0.5 into 0.5 21.180 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.180 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.180 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.180 * [backup-simplify]: Simplify phi1 into phi1 21.180 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.180 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.180 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.180 * [backup-simplify]: Simplify phi2 into phi2 21.180 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.180 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.180 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.180 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.180 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.180 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.180 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.180 * [backup-simplify]: Simplify (- 0) into 0 21.181 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.181 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 21.181 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.181 * [backup-simplify]: Simplify lambda2 into lambda2 21.181 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.181 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.181 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.181 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda1 21.181 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 21.181 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 21.181 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.181 * [backup-simplify]: Simplify phi1 into phi1 21.181 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.181 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.181 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 21.181 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 21.181 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.181 * [backup-simplify]: Simplify phi2 into phi2 21.181 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.181 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.182 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda1 21.182 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 21.182 * [taylor]: Taking taylor expansion of 2 in lambda1 21.182 * [backup-simplify]: Simplify 2 into 2 21.182 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 21.182 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 21.182 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.182 * [backup-simplify]: Simplify phi1 into phi1 21.182 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.182 * [backup-simplify]: Simplify phi2 into phi2 21.182 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.182 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.182 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda1 21.182 * [taylor]: Taking taylor expansion of 2 in lambda1 21.182 * [backup-simplify]: Simplify 2 into 2 21.182 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda1 21.182 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.182 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.182 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.182 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.182 * [backup-simplify]: Simplify 0.5 into 0.5 21.182 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.182 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.182 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.182 * [backup-simplify]: Simplify phi1 into phi1 21.182 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.182 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.182 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.182 * [backup-simplify]: Simplify phi2 into phi2 21.182 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.182 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.182 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.182 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.182 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.182 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.183 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.183 * [backup-simplify]: Simplify (- 0) into 0 21.183 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.183 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda1 21.183 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.183 * [backup-simplify]: Simplify 0 into 0 21.183 * [backup-simplify]: Simplify 1 into 1 21.183 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.183 * [backup-simplify]: Simplify lambda2 into lambda2 21.183 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.183 * [backup-simplify]: Simplify (* 0 lambda2) into 0 21.184 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda2)) into lambda2 21.184 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 21.184 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.184 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.184 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.185 * [backup-simplify]: Simplify (+ 0) into 0 21.185 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.185 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.185 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.185 * [backup-simplify]: Simplify (+ 0 0) into 0 21.186 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.187 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.187 * [backup-simplify]: Simplify (- 0) into 0 21.187 * [backup-simplify]: Simplify (+ 0 0) into 0 21.187 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.188 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.188 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 21.189 * [backup-simplify]: Simplify (+ 0 0) into 0 21.189 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.189 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.189 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.190 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.190 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 21.190 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda1 21.190 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda1 21.190 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda1 21.190 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 21.190 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.190 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.190 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.190 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.190 * [backup-simplify]: Simplify 0.5 into 0.5 21.190 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.190 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.190 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.190 * [backup-simplify]: Simplify phi1 into phi1 21.190 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.190 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.190 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.191 * [backup-simplify]: Simplify phi2 into phi2 21.191 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.191 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.191 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.191 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.191 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.191 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.191 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.191 * [backup-simplify]: Simplify (- 0) into 0 21.191 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.192 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 21.192 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.192 * [backup-simplify]: Simplify 0 into 0 21.192 * [backup-simplify]: Simplify 1 into 1 21.192 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.192 * [backup-simplify]: Simplify (* 1 1) into 1 21.192 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.192 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda1 21.192 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 21.192 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.192 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.192 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.192 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.192 * [backup-simplify]: Simplify 0.5 into 0.5 21.192 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.192 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.192 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.192 * [backup-simplify]: Simplify phi1 into phi1 21.192 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.192 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.192 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.192 * [backup-simplify]: Simplify phi2 into phi2 21.192 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.193 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.193 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.193 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.193 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.193 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.193 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.193 * [backup-simplify]: Simplify (- 0) into 0 21.193 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.193 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 21.193 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.193 * [backup-simplify]: Simplify lambda2 into lambda2 21.194 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.194 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.194 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.194 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda1 21.194 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 21.194 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 21.194 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.194 * [backup-simplify]: Simplify phi1 into phi1 21.194 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.194 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.194 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 21.194 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 21.194 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.194 * [backup-simplify]: Simplify phi2 into phi2 21.194 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.194 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.194 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda1 21.194 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 21.194 * [taylor]: Taking taylor expansion of 2 in lambda1 21.194 * [backup-simplify]: Simplify 2 into 2 21.194 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 21.194 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 21.194 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.194 * [backup-simplify]: Simplify phi1 into phi1 21.194 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.194 * [backup-simplify]: Simplify phi2 into phi2 21.194 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.195 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.195 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda1 21.195 * [taylor]: Taking taylor expansion of 2 in lambda1 21.195 * [backup-simplify]: Simplify 2 into 2 21.195 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda1 21.195 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.195 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.195 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.195 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.195 * [backup-simplify]: Simplify 0.5 into 0.5 21.195 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.195 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.195 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.195 * [backup-simplify]: Simplify phi1 into phi1 21.195 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.195 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.195 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.195 * [backup-simplify]: Simplify phi2 into phi2 21.195 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.195 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.195 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.195 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.195 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.195 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.195 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.196 * [backup-simplify]: Simplify (- 0) into 0 21.196 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.196 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda1 21.196 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.196 * [backup-simplify]: Simplify 0 into 0 21.196 * [backup-simplify]: Simplify 1 into 1 21.196 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.196 * [backup-simplify]: Simplify lambda2 into lambda2 21.196 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.196 * [backup-simplify]: Simplify (* 0 lambda2) into 0 21.196 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda2)) into lambda2 21.197 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 21.197 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.197 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.197 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.197 * [backup-simplify]: Simplify (+ 0) into 0 21.198 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.198 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.198 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.198 * [backup-simplify]: Simplify (+ 0 0) into 0 21.198 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.199 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.200 * [backup-simplify]: Simplify (- 0) into 0 21.200 * [backup-simplify]: Simplify (+ 0 0) into 0 21.200 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.200 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.201 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 21.201 * [backup-simplify]: Simplify (+ 0 0) into 0 21.202 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.202 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.202 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.202 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.203 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 21.203 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.203 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.203 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.203 * [backup-simplify]: Simplify 0.5 into 0.5 21.203 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.203 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.203 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.203 * [backup-simplify]: Simplify phi1 into phi1 21.203 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.203 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.203 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.203 * [backup-simplify]: Simplify phi2 into phi2 21.203 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.203 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.203 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.203 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.203 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.203 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 21.203 * [taylor]: Taking taylor expansion of -1 in lambda2 21.203 * [backup-simplify]: Simplify -1 into -1 21.203 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 21.203 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.204 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.204 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.204 * [backup-simplify]: Simplify 0.5 into 0.5 21.204 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.204 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.204 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.204 * [backup-simplify]: Simplify phi1 into phi1 21.204 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.204 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.204 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.204 * [backup-simplify]: Simplify phi2 into phi2 21.204 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.204 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.204 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.204 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.204 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.204 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.204 * [backup-simplify]: Simplify 0 into 0 21.204 * [backup-simplify]: Simplify 1 into 1 21.204 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.204 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.205 * [backup-simplify]: Simplify (- 0) into 0 21.205 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.205 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.205 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.205 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 21.205 * [taylor]: Taking taylor expansion of -1 in phi1 21.205 * [backup-simplify]: Simplify -1 into -1 21.205 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.205 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.205 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.205 * [backup-simplify]: Simplify 0.5 into 0.5 21.205 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.205 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.205 * [taylor]: Taking taylor expansion of phi1 in phi1 21.205 * [backup-simplify]: Simplify 0 into 0 21.205 * [backup-simplify]: Simplify 1 into 1 21.205 * [backup-simplify]: Simplify (/ 1 1) into 1 21.205 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.205 * [taylor]: Taking taylor expansion of phi2 in phi1 21.205 * [backup-simplify]: Simplify phi2 into phi2 21.205 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.206 * [backup-simplify]: Simplify (+ 1 0) into 1 21.206 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.206 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.207 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.207 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.207 * [backup-simplify]: Simplify (- 0) into 0 21.207 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.207 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.207 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.207 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.207 * [backup-simplify]: Simplify 0.5 into 0.5 21.207 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.207 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.207 * [taylor]: Taking taylor expansion of phi1 in phi1 21.207 * [backup-simplify]: Simplify 0 into 0 21.207 * [backup-simplify]: Simplify 1 into 1 21.207 * [backup-simplify]: Simplify (/ 1 1) into 1 21.207 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.207 * [taylor]: Taking taylor expansion of phi2 in phi1 21.207 * [backup-simplify]: Simplify phi2 into phi2 21.207 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.208 * [backup-simplify]: Simplify (+ 1 0) into 1 21.208 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.208 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.209 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.209 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.209 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.209 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.210 * [backup-simplify]: Simplify (+ 0 0) into 0 21.210 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.211 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.211 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.211 * [backup-simplify]: Simplify (- 0) into 0 21.211 * [backup-simplify]: Simplify (+ 0 0) into 0 21.212 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 21.212 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 21.213 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 21.214 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 21.214 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) 21.215 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 21.215 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 21.215 * [backup-simplify]: Simplify (+ 0) into 0 21.215 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.215 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.215 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.216 * [backup-simplify]: Simplify (+ 0 0) into 0 21.216 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.217 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.217 * [backup-simplify]: Simplify (- 0) into 0 21.217 * [backup-simplify]: Simplify (+ 0 0) into 0 21.217 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.218 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda2))) into 0 21.218 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 21.219 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 21.219 * [backup-simplify]: Simplify (+ (/ 2 (* phi1 phi2)) 0) into (* 2 (/ 1 (* phi1 phi2))) 21.219 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi1 phi2)))) into (- (* 2 (/ 1 (* phi1 phi2)))) 21.220 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) 21.221 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.221 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 21.221 * [taylor]: Taking taylor expansion of 1/2 in lambda2 21.221 * [backup-simplify]: Simplify 1/2 into 1/2 21.221 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 21.221 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2 21.221 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2 21.221 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 21.221 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.221 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.221 * [backup-simplify]: Simplify phi1 into phi1 21.221 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.221 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.221 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 21.221 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.221 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.221 * [backup-simplify]: Simplify phi2 into phi2 21.221 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.221 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.221 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 21.221 * [taylor]: Taking taylor expansion of 2 in lambda2 21.221 * [backup-simplify]: Simplify 2 into 2 21.221 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 21.221 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.221 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.221 * [backup-simplify]: Simplify phi1 into phi1 21.221 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.221 * [backup-simplify]: Simplify phi2 into phi2 21.222 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.222 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.222 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.222 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.222 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.222 * [backup-simplify]: Simplify 0.5 into 0.5 21.222 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.222 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.222 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.222 * [backup-simplify]: Simplify phi1 into phi1 21.222 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.222 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.222 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.222 * [backup-simplify]: Simplify phi2 into phi2 21.222 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.222 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.222 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.222 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.222 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.222 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 21.222 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 21.222 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 21.223 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 21.223 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.223 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.223 * [backup-simplify]: Simplify (- 0) into 0 21.223 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.224 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.224 * [backup-simplify]: Simplify (+ 0) into 0 21.224 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.224 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.224 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.225 * [backup-simplify]: Simplify (+ 0 0) into 0 21.225 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.226 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.226 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.226 * [backup-simplify]: Simplify (- 0) into 0 21.226 * [backup-simplify]: Simplify (+ 0 0) into 0 21.227 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 21.227 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.227 * [taylor]: Taking taylor expansion of 0 in phi1 21.227 * [backup-simplify]: Simplify 0 into 0 21.228 * [backup-simplify]: Simplify (+ 0) into 0 21.228 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.228 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.228 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.228 * [backup-simplify]: Simplify (+ 0 0) into 0 21.229 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.230 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.230 * [backup-simplify]: Simplify (- 0) into 0 21.230 * [backup-simplify]: Simplify (+ 0 0) into 0 21.230 * [taylor]: Taking taylor expansion of 0 in phi1 21.230 * [backup-simplify]: Simplify 0 into 0 21.230 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.230 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 21.230 * [taylor]: Taking taylor expansion of -1 in phi2 21.230 * [backup-simplify]: Simplify -1 into -1 21.230 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.230 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.230 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.230 * [backup-simplify]: Simplify 0.5 into 0.5 21.230 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.230 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.230 * [taylor]: Taking taylor expansion of phi1 in phi2 21.230 * [backup-simplify]: Simplify phi1 into phi1 21.230 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.230 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.230 * [taylor]: Taking taylor expansion of phi2 in phi2 21.230 * [backup-simplify]: Simplify 0 into 0 21.230 * [backup-simplify]: Simplify 1 into 1 21.231 * [backup-simplify]: Simplify (/ 1 1) into 1 21.231 * [backup-simplify]: Simplify (+ 0 1) into 1 21.231 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.231 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.231 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.231 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.231 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.231 * [backup-simplify]: Simplify 0.5 into 0.5 21.231 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.231 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.231 * [taylor]: Taking taylor expansion of phi1 in phi2 21.232 * [backup-simplify]: Simplify phi1 into phi1 21.232 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.232 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.232 * [taylor]: Taking taylor expansion of phi2 in phi2 21.232 * [backup-simplify]: Simplify 0 into 0 21.232 * [backup-simplify]: Simplify 1 into 1 21.232 * [backup-simplify]: Simplify (/ 1 1) into 1 21.232 * [backup-simplify]: Simplify (+ 0 1) into 1 21.232 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.232 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.233 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 21.234 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 21.234 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.234 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.234 * [backup-simplify]: Simplify (+ 0 0) into 0 21.235 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.236 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 21.236 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 21.236 * [backup-simplify]: Simplify (- 0) into 0 21.237 * [backup-simplify]: Simplify (+ 0 0) into 0 21.237 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 21.238 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 21.239 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 21.239 * [backup-simplify]: Simplify (+ 0) into 0 21.240 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.240 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.240 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.240 * [backup-simplify]: Simplify (+ 0 0) into 0 21.241 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.241 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.242 * [backup-simplify]: Simplify (- 0) into 0 21.242 * [backup-simplify]: Simplify (+ 0 0) into 0 21.242 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.242 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 21.243 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 21.243 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.243 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 21.243 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.243 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 21.243 * [backup-simplify]: Simplify (+ 0 0) into 0 21.243 * [backup-simplify]: Simplify (+ 0 0) into 0 21.244 * [backup-simplify]: Simplify (+ 0 0) into 0 21.244 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.244 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi1 phi2)) (/ 0 (* phi1 phi2))))) into 0 21.244 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi1 phi2)))) into 0 21.245 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.245 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.245 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.245 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.246 * [backup-simplify]: Simplify (+ 0 0) into 0 21.246 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.247 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.247 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.247 * [backup-simplify]: Simplify (- 0) into 0 21.248 * [backup-simplify]: Simplify (+ 0 0) into 0 21.248 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 21.249 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda2)))) into 0 21.249 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 21.250 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 21.250 * [backup-simplify]: Simplify (+ 0 0) into 0 21.250 * [backup-simplify]: Simplify (- 0) into 0 21.250 * [backup-simplify]: Simplify (+ 0 0) into 0 21.251 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.251 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 21.251 * [taylor]: Taking taylor expansion of 1/2 in lambda2 21.251 * [backup-simplify]: Simplify 1/2 into 1/2 21.251 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 21.251 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2 21.251 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2 21.251 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2 21.251 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2 21.251 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.251 * [backup-simplify]: Simplify 0 into 0 21.252 * [backup-simplify]: Simplify 1 into 1 21.252 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.252 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.252 * [backup-simplify]: Simplify phi2 into phi2 21.252 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.252 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0 21.252 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.252 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2) 21.252 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.252 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 21.252 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 21.252 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.252 * [backup-simplify]: Simplify 0 into 0 21.252 * [backup-simplify]: Simplify 1 into 1 21.252 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.252 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.252 * [backup-simplify]: Simplify phi1 into phi1 21.252 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.252 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 21.252 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.253 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 21.253 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.253 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2 21.253 * [taylor]: Taking taylor expansion of 2 in lambda2 21.253 * [backup-simplify]: Simplify 2 into 2 21.253 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2 21.253 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2 21.253 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.253 * [backup-simplify]: Simplify 0 into 0 21.253 * [backup-simplify]: Simplify 1 into 1 21.253 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.253 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.253 * [backup-simplify]: Simplify phi1 into phi1 21.253 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.253 * [backup-simplify]: Simplify phi2 into phi2 21.253 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.253 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0 21.253 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.253 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2) 21.254 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.254 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.254 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.254 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.254 * [backup-simplify]: Simplify 0.5 into 0.5 21.254 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.254 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.254 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.254 * [backup-simplify]: Simplify phi1 into phi1 21.254 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.254 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.254 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.254 * [backup-simplify]: Simplify phi2 into phi2 21.254 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.254 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.254 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.254 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.254 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.254 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 21.254 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 21.254 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 21.255 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 21.255 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.255 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.255 * [backup-simplify]: Simplify (- 0) into 0 21.255 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.256 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.256 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.256 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 21.256 * [taylor]: Taking taylor expansion of 1/2 in phi1 21.256 * [backup-simplify]: Simplify 1/2 into 1/2 21.256 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 21.256 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 21.256 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 21.256 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 21.256 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.256 * [taylor]: Taking taylor expansion of phi2 in phi1 21.256 * [backup-simplify]: Simplify phi2 into phi2 21.256 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.257 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.257 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 21.257 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.257 * [taylor]: Taking taylor expansion of phi1 in phi1 21.257 * [backup-simplify]: Simplify 0 into 0 21.257 * [backup-simplify]: Simplify 1 into 1 21.257 * [backup-simplify]: Simplify (* 1 1) into 1 21.257 * [backup-simplify]: Simplify (/ 1 1) into 1 21.257 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 21.257 * [taylor]: Taking taylor expansion of 2 in phi1 21.257 * [backup-simplify]: Simplify 2 into 2 21.257 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 21.257 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.257 * [taylor]: Taking taylor expansion of phi1 in phi1 21.257 * [backup-simplify]: Simplify 0 into 0 21.257 * [backup-simplify]: Simplify 1 into 1 21.257 * [taylor]: Taking taylor expansion of phi2 in phi1 21.257 * [backup-simplify]: Simplify phi2 into phi2 21.257 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.258 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.258 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.258 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.258 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.258 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.258 * [backup-simplify]: Simplify 0.5 into 0.5 21.258 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.258 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.258 * [taylor]: Taking taylor expansion of phi1 in phi1 21.258 * [backup-simplify]: Simplify 0 into 0 21.258 * [backup-simplify]: Simplify 1 into 1 21.258 * [backup-simplify]: Simplify (/ 1 1) into 1 21.258 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.258 * [taylor]: Taking taylor expansion of phi2 in phi1 21.258 * [backup-simplify]: Simplify phi2 into phi2 21.258 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.258 * [backup-simplify]: Simplify (+ 1 0) into 1 21.259 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.259 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.259 * [backup-simplify]: Simplify (+ 0 1) into 1 21.259 * [backup-simplify]: Simplify (+ 1 0) into 1 21.259 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.260 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.260 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.260 * [backup-simplify]: Simplify (+ 0 0) into 0 21.261 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 21.261 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 21.261 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 21.261 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))) 21.261 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) 21.261 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2 21.261 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2 21.261 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2 21.261 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.261 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.261 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.261 * [backup-simplify]: Simplify 0.5 into 0.5 21.261 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.261 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.261 * [taylor]: Taking taylor expansion of phi1 in phi2 21.261 * [backup-simplify]: Simplify phi1 into phi1 21.262 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.262 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.262 * [taylor]: Taking taylor expansion of phi2 in phi2 21.262 * [backup-simplify]: Simplify 0 into 0 21.262 * [backup-simplify]: Simplify 1 into 1 21.262 * [backup-simplify]: Simplify (/ 1 1) into 1 21.262 * [backup-simplify]: Simplify (+ 0 1) into 1 21.262 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.263 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.263 * [taylor]: Taking taylor expansion of phi2 in phi2 21.263 * [backup-simplify]: Simplify 0 into 0 21.263 * [backup-simplify]: Simplify 1 into 1 21.263 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.263 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.263 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.263 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.263 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.264 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.264 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 21.264 * [taylor]: Taking taylor expansion of 1/2 in phi1 21.264 * [backup-simplify]: Simplify 1/2 into 1/2 21.264 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 21.264 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 21.264 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 21.264 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 21.264 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.264 * [taylor]: Taking taylor expansion of phi2 in phi1 21.264 * [backup-simplify]: Simplify phi2 into phi2 21.264 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.264 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.264 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 21.264 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.264 * [taylor]: Taking taylor expansion of phi1 in phi1 21.264 * [backup-simplify]: Simplify 0 into 0 21.264 * [backup-simplify]: Simplify 1 into 1 21.265 * [backup-simplify]: Simplify (* 1 1) into 1 21.268 * [backup-simplify]: Simplify (/ 1 1) into 1 21.268 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 21.268 * [taylor]: Taking taylor expansion of 2 in phi1 21.268 * [backup-simplify]: Simplify 2 into 2 21.268 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 21.268 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.268 * [taylor]: Taking taylor expansion of phi1 in phi1 21.268 * [backup-simplify]: Simplify 0 into 0 21.268 * [backup-simplify]: Simplify 1 into 1 21.268 * [taylor]: Taking taylor expansion of phi2 in phi1 21.268 * [backup-simplify]: Simplify phi2 into phi2 21.268 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.268 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.268 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.268 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.268 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.268 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.268 * [backup-simplify]: Simplify 0.5 into 0.5 21.269 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.269 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.269 * [taylor]: Taking taylor expansion of phi1 in phi1 21.269 * [backup-simplify]: Simplify 0 into 0 21.269 * [backup-simplify]: Simplify 1 into 1 21.269 * [backup-simplify]: Simplify (/ 1 1) into 1 21.269 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.269 * [taylor]: Taking taylor expansion of phi2 in phi1 21.269 * [backup-simplify]: Simplify phi2 into phi2 21.269 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.269 * [backup-simplify]: Simplify (+ 1 0) into 1 21.269 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.270 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.270 * [backup-simplify]: Simplify (+ 0 1) into 1 21.270 * [backup-simplify]: Simplify (+ 1 0) into 1 21.270 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.271 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.271 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.271 * [backup-simplify]: Simplify (+ 0 0) into 0 21.271 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 21.271 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 21.271 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 21.272 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))) 21.272 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) 21.272 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2 21.272 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2 21.272 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2 21.272 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.272 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.272 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.272 * [backup-simplify]: Simplify 0.5 into 0.5 21.272 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.272 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.272 * [taylor]: Taking taylor expansion of phi1 in phi2 21.272 * [backup-simplify]: Simplify phi1 into phi1 21.272 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.272 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.272 * [taylor]: Taking taylor expansion of phi2 in phi2 21.272 * [backup-simplify]: Simplify 0 into 0 21.272 * [backup-simplify]: Simplify 1 into 1 21.273 * [backup-simplify]: Simplify (/ 1 1) into 1 21.273 * [backup-simplify]: Simplify (+ 0 1) into 1 21.273 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.273 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.273 * [taylor]: Taking taylor expansion of phi2 in phi2 21.273 * [backup-simplify]: Simplify 0 into 0 21.273 * [backup-simplify]: Simplify 1 into 1 21.273 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.274 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.274 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.274 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.274 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.275 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.275 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.275 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.275 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.276 * [backup-simplify]: Simplify (+ 0 0) into 0 21.276 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.277 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.277 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.277 * [backup-simplify]: Simplify (- 0) into 0 21.278 * [backup-simplify]: Simplify (+ 0 0) into 0 21.278 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 21.279 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 21.279 * [taylor]: Taking taylor expansion of 0 in phi1 21.279 * [backup-simplify]: Simplify 0 into 0 21.280 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.280 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.280 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.280 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.281 * [backup-simplify]: Simplify (+ 0 0) into 0 21.281 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.282 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.282 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.282 * [backup-simplify]: Simplify (- 0) into 0 21.282 * [backup-simplify]: Simplify (+ 0 0) into 0 21.283 * [taylor]: Taking taylor expansion of 0 in phi1 21.283 * [backup-simplify]: Simplify 0 into 0 21.283 * [taylor]: Taking taylor expansion of 0 in phi2 21.283 * [backup-simplify]: Simplify 0 into 0 21.283 * [taylor]: Taking taylor expansion of 0 in phi2 21.283 * [backup-simplify]: Simplify 0 into 0 21.283 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.283 * [taylor]: Taking taylor expansion of 0 in phi2 21.283 * [backup-simplify]: Simplify 0 into 0 21.283 * [taylor]: Taking taylor expansion of 0 in phi2 21.283 * [backup-simplify]: Simplify 0 into 0 21.283 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.283 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.284 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1)))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2))))))) into (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2)))))) 21.285 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 21.285 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 21.285 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi2 21.285 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi2 21.285 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in phi2 21.285 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 21.285 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.285 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.285 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.285 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.285 * [backup-simplify]: Simplify -0.5 into -0.5 21.285 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.285 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.285 * [taylor]: Taking taylor expansion of phi1 in phi2 21.285 * [backup-simplify]: Simplify phi1 into phi1 21.285 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.285 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.285 * [taylor]: Taking taylor expansion of phi2 in phi2 21.286 * [backup-simplify]: Simplify 0 into 0 21.286 * [backup-simplify]: Simplify 1 into 1 21.286 * [backup-simplify]: Simplify (/ 1 1) into 1 21.286 * [backup-simplify]: Simplify (+ 0 1) into 1 21.286 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.286 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.287 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 21.287 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.287 * [backup-simplify]: Simplify lambda2 into lambda2 21.287 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.287 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.287 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.287 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in phi2 21.287 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 21.287 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 21.287 * [taylor]: Taking taylor expansion of phi1 in phi2 21.287 * [backup-simplify]: Simplify phi1 into phi1 21.287 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.288 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.288 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in phi2 21.288 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 21.288 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.288 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.288 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.288 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.288 * [backup-simplify]: Simplify -0.5 into -0.5 21.288 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.288 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.288 * [taylor]: Taking taylor expansion of phi1 in phi2 21.288 * [backup-simplify]: Simplify phi1 into phi1 21.288 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.288 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.288 * [taylor]: Taking taylor expansion of phi2 in phi2 21.288 * [backup-simplify]: Simplify 0 into 0 21.288 * [backup-simplify]: Simplify 1 into 1 21.289 * [backup-simplify]: Simplify (/ 1 1) into 1 21.289 * [backup-simplify]: Simplify (+ 0 1) into 1 21.289 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.290 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.290 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 21.290 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.290 * [backup-simplify]: Simplify lambda1 into lambda1 21.290 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.290 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.291 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.291 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 21.291 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 21.291 * [taylor]: Taking taylor expansion of phi2 in phi2 21.291 * [backup-simplify]: Simplify 0 into 0 21.291 * [backup-simplify]: Simplify 1 into 1 21.291 * [backup-simplify]: Simplify (* 1 1) into 1 21.292 * [backup-simplify]: Simplify (/ 1 1) into 1 21.292 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 21.292 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2 21.292 * [taylor]: Taking taylor expansion of 2 in phi2 21.292 * [backup-simplify]: Simplify 2 into 2 21.292 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2 21.292 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 21.292 * [taylor]: Taking taylor expansion of phi1 in phi2 21.292 * [backup-simplify]: Simplify phi1 into phi1 21.292 * [taylor]: Taking taylor expansion of phi2 in phi2 21.292 * [backup-simplify]: Simplify 0 into 0 21.292 * [backup-simplify]: Simplify 1 into 1 21.292 * [backup-simplify]: Simplify (* phi1 0) into 0 21.292 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 21.293 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.293 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 21.293 * [taylor]: Taking taylor expansion of 2 in phi2 21.293 * [backup-simplify]: Simplify 2 into 2 21.293 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 21.293 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.293 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.293 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.293 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.293 * [backup-simplify]: Simplify -0.5 into -0.5 21.293 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.293 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.293 * [taylor]: Taking taylor expansion of phi1 in phi2 21.293 * [backup-simplify]: Simplify phi1 into phi1 21.293 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.293 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.293 * [taylor]: Taking taylor expansion of phi2 in phi2 21.293 * [backup-simplify]: Simplify 0 into 0 21.293 * [backup-simplify]: Simplify 1 into 1 21.294 * [backup-simplify]: Simplify (/ 1 1) into 1 21.294 * [backup-simplify]: Simplify (+ 0 1) into 1 21.294 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.295 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.295 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 21.295 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.295 * [backup-simplify]: Simplify lambda2 into lambda2 21.295 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.295 * [backup-simplify]: Simplify lambda1 into lambda1 21.295 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.295 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 21.296 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 21.296 * [backup-simplify]: Simplify (+ 0 1) into 1 21.297 * [backup-simplify]: Simplify (+ 0 1) into 1 21.297 * [backup-simplify]: Simplify (+ 0 1) into 1 21.298 * [backup-simplify]: Simplify (+ 1 0) into 1 21.299 * [backup-simplify]: Simplify (sqrt 1) into 1 21.299 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.300 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.301 * [backup-simplify]: Simplify (+ 0 0) into 0 21.301 * [backup-simplify]: Simplify (+ 0 0) into 0 21.301 * [backup-simplify]: Simplify (+ 0 0) into 0 21.302 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 21.302 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 21.302 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 21.302 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 21.303 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 21.303 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1 21.303 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 21.303 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in phi1 21.303 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 21.303 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.303 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.303 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.303 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.303 * [backup-simplify]: Simplify -0.5 into -0.5 21.303 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.303 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.303 * [taylor]: Taking taylor expansion of phi1 in phi1 21.303 * [backup-simplify]: Simplify 0 into 0 21.303 * [backup-simplify]: Simplify 1 into 1 21.304 * [backup-simplify]: Simplify (/ 1 1) into 1 21.304 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.304 * [taylor]: Taking taylor expansion of phi2 in phi1 21.304 * [backup-simplify]: Simplify phi2 into phi2 21.304 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.305 * [backup-simplify]: Simplify (+ 1 0) into 1 21.305 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.305 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.305 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 21.305 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.305 * [backup-simplify]: Simplify lambda2 into lambda2 21.306 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.306 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.306 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.306 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in phi1 21.306 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 21.306 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.306 * [taylor]: Taking taylor expansion of phi1 in phi1 21.306 * [backup-simplify]: Simplify 0 into 0 21.306 * [backup-simplify]: Simplify 1 into 1 21.307 * [backup-simplify]: Simplify (* 1 1) into 1 21.308 * [backup-simplify]: Simplify (/ 1 1) into 1 21.308 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in phi1 21.308 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 21.308 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.308 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.308 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.308 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.308 * [backup-simplify]: Simplify -0.5 into -0.5 21.308 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.308 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.308 * [taylor]: Taking taylor expansion of phi1 in phi1 21.308 * [backup-simplify]: Simplify 0 into 0 21.308 * [backup-simplify]: Simplify 1 into 1 21.309 * [backup-simplify]: Simplify (/ 1 1) into 1 21.309 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.309 * [taylor]: Taking taylor expansion of phi2 in phi1 21.309 * [backup-simplify]: Simplify phi2 into phi2 21.309 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.309 * [backup-simplify]: Simplify (+ 1 0) into 1 21.310 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.310 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.310 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 21.310 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.310 * [backup-simplify]: Simplify lambda1 into lambda1 21.310 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.311 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.311 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.311 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 21.311 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.311 * [taylor]: Taking taylor expansion of phi2 in phi1 21.311 * [backup-simplify]: Simplify phi2 into phi2 21.311 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.311 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.311 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 21.311 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 21.311 * [taylor]: Taking taylor expansion of 2 in phi1 21.312 * [backup-simplify]: Simplify 2 into 2 21.312 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 21.312 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.312 * [taylor]: Taking taylor expansion of phi1 in phi1 21.312 * [backup-simplify]: Simplify 0 into 0 21.312 * [backup-simplify]: Simplify 1 into 1 21.312 * [taylor]: Taking taylor expansion of phi2 in phi1 21.312 * [backup-simplify]: Simplify phi2 into phi2 21.312 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.312 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.312 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.313 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 21.313 * [taylor]: Taking taylor expansion of 2 in phi1 21.313 * [backup-simplify]: Simplify 2 into 2 21.313 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 21.313 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.313 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.313 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.313 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.313 * [backup-simplify]: Simplify -0.5 into -0.5 21.313 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.313 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.313 * [taylor]: Taking taylor expansion of phi1 in phi1 21.313 * [backup-simplify]: Simplify 0 into 0 21.313 * [backup-simplify]: Simplify 1 into 1 21.313 * [backup-simplify]: Simplify (/ 1 1) into 1 21.313 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.313 * [taylor]: Taking taylor expansion of phi2 in phi1 21.313 * [backup-simplify]: Simplify phi2 into phi2 21.314 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.314 * [backup-simplify]: Simplify (+ 1 0) into 1 21.314 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.315 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.315 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 21.315 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.315 * [backup-simplify]: Simplify lambda2 into lambda2 21.315 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.315 * [backup-simplify]: Simplify lambda1 into lambda1 21.315 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.315 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 21.316 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 21.316 * [backup-simplify]: Simplify (+ 1 0) into 1 21.317 * [backup-simplify]: Simplify (+ 0 1) into 1 21.317 * [backup-simplify]: Simplify (+ 1 0) into 1 21.318 * [backup-simplify]: Simplify (sqrt 1) into 1 21.318 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.319 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.320 * [backup-simplify]: Simplify (+ 0 0) into 0 21.320 * [backup-simplify]: Simplify (+ 0 0) into 0 21.320 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 21.320 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 21.320 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 21.320 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 21.321 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 21.321 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2 21.321 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2 21.321 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda2 21.321 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 21.321 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.321 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.321 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.321 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.321 * [backup-simplify]: Simplify -0.5 into -0.5 21.321 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.321 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.322 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.322 * [backup-simplify]: Simplify phi1 into phi1 21.322 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.322 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.322 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.322 * [backup-simplify]: Simplify phi2 into phi2 21.322 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.322 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.322 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.322 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.322 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.323 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.323 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.323 * [backup-simplify]: Simplify (- 0) into 0 21.324 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.324 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.324 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.324 * [backup-simplify]: Simplify 0 into 0 21.324 * [backup-simplify]: Simplify 1 into 1 21.324 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.324 * [backup-simplify]: Simplify (* 1 1) into 1 21.325 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.325 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda2 21.325 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 21.325 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.325 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.325 * [backup-simplify]: Simplify phi1 into phi1 21.325 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.325 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.325 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda2 21.325 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 21.325 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.325 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.325 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.325 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.325 * [backup-simplify]: Simplify -0.5 into -0.5 21.325 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.325 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.325 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.325 * [backup-simplify]: Simplify phi1 into phi1 21.325 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.325 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.325 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.325 * [backup-simplify]: Simplify phi2 into phi2 21.326 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.326 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.326 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.326 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.326 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.326 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.326 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.327 * [backup-simplify]: Simplify (- 0) into 0 21.327 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.327 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 21.327 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.327 * [backup-simplify]: Simplify lambda1 into lambda1 21.328 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.328 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.328 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.328 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 21.328 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.328 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.328 * [backup-simplify]: Simplify phi2 into phi2 21.328 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.328 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.328 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 21.328 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 21.328 * [taylor]: Taking taylor expansion of 2 in lambda2 21.328 * [backup-simplify]: Simplify 2 into 2 21.328 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 21.328 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.328 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.328 * [backup-simplify]: Simplify phi1 into phi1 21.328 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.329 * [backup-simplify]: Simplify phi2 into phi2 21.329 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.329 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.329 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 21.329 * [taylor]: Taking taylor expansion of 2 in lambda2 21.329 * [backup-simplify]: Simplify 2 into 2 21.329 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 21.329 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.329 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.329 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.329 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.329 * [backup-simplify]: Simplify -0.5 into -0.5 21.329 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.329 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.329 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.329 * [backup-simplify]: Simplify phi1 into phi1 21.329 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.329 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.329 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.329 * [backup-simplify]: Simplify phi2 into phi2 21.329 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.329 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.329 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.330 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.330 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.330 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.330 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.331 * [backup-simplify]: Simplify (- 0) into 0 21.331 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.331 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 21.331 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.331 * [backup-simplify]: Simplify 0 into 0 21.331 * [backup-simplify]: Simplify 1 into 1 21.331 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.331 * [backup-simplify]: Simplify lambda1 into lambda1 21.331 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.332 * [backup-simplify]: Simplify (* 0 lambda1) into 0 21.332 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 21.333 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 21.333 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.333 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.333 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.334 * [backup-simplify]: Simplify (+ 0) into 0 21.335 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.335 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.335 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.335 * [backup-simplify]: Simplify (+ 0 0) into 0 21.336 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.337 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.337 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.338 * [backup-simplify]: Simplify (- 0) into 0 21.338 * [backup-simplify]: Simplify (+ 0 0) into 0 21.338 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.339 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.340 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 21.341 * [backup-simplify]: Simplify (+ 0 0) into 0 21.341 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 21.342 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 21.342 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 21.343 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 21.343 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 21.343 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 21.343 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 21.344 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda1 21.344 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 21.344 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.344 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.344 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.344 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.344 * [backup-simplify]: Simplify -0.5 into -0.5 21.344 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.344 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.344 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.344 * [backup-simplify]: Simplify phi1 into phi1 21.344 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.344 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.344 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.344 * [backup-simplify]: Simplify phi2 into phi2 21.344 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.344 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.344 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.344 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.345 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.345 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.345 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.346 * [backup-simplify]: Simplify (- 0) into 0 21.346 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.346 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 21.346 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.346 * [backup-simplify]: Simplify lambda2 into lambda2 21.346 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.346 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.347 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.347 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda1 21.347 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 21.347 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 21.347 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.347 * [backup-simplify]: Simplify phi1 into phi1 21.347 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.347 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.347 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda1 21.347 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 21.347 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.347 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.347 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.347 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.347 * [backup-simplify]: Simplify -0.5 into -0.5 21.347 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.347 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.347 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.347 * [backup-simplify]: Simplify phi1 into phi1 21.347 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.347 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.347 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.347 * [backup-simplify]: Simplify phi2 into phi2 21.348 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.348 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.348 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.348 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.348 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.348 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.348 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.349 * [backup-simplify]: Simplify (- 0) into 0 21.349 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.349 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 21.349 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.349 * [backup-simplify]: Simplify 0 into 0 21.349 * [backup-simplify]: Simplify 1 into 1 21.350 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.350 * [backup-simplify]: Simplify (* 1 1) into 1 21.350 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.350 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 21.350 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 21.350 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.350 * [backup-simplify]: Simplify phi2 into phi2 21.350 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.351 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.351 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 21.351 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 21.351 * [taylor]: Taking taylor expansion of 2 in lambda1 21.351 * [backup-simplify]: Simplify 2 into 2 21.351 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 21.351 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 21.351 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.351 * [backup-simplify]: Simplify phi1 into phi1 21.351 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.351 * [backup-simplify]: Simplify phi2 into phi2 21.351 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.351 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.351 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 21.351 * [taylor]: Taking taylor expansion of 2 in lambda1 21.351 * [backup-simplify]: Simplify 2 into 2 21.351 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 21.351 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.351 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.351 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.351 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.351 * [backup-simplify]: Simplify -0.5 into -0.5 21.351 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.351 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.351 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.351 * [backup-simplify]: Simplify phi1 into phi1 21.351 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.351 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.351 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.351 * [backup-simplify]: Simplify phi2 into phi2 21.351 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.352 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.352 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.352 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.352 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.352 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.352 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.353 * [backup-simplify]: Simplify (- 0) into 0 21.353 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.353 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 21.353 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.353 * [backup-simplify]: Simplify lambda2 into lambda2 21.353 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.353 * [backup-simplify]: Simplify 0 into 0 21.353 * [backup-simplify]: Simplify 1 into 1 21.354 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.354 * [backup-simplify]: Simplify (* lambda2 0) into 0 21.354 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 21.354 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 21.355 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.355 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.355 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.356 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.356 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.357 * [backup-simplify]: Simplify (+ 0) into 0 21.357 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.357 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.357 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.358 * [backup-simplify]: Simplify (+ 0 0) into 0 21.358 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.360 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.360 * [backup-simplify]: Simplify (- 0) into 0 21.361 * [backup-simplify]: Simplify (+ 0 0) into 0 21.361 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.362 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.363 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 21.363 * [backup-simplify]: Simplify (+ 0 0) into 0 21.363 * [backup-simplify]: Simplify (+ 0 0) into 0 21.363 * [backup-simplify]: Simplify (+ 0 0) into 0 21.364 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.364 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.364 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.364 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.365 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 21.365 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 21.365 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 21.365 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda1 21.365 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 21.365 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.365 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.365 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.365 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.365 * [backup-simplify]: Simplify -0.5 into -0.5 21.365 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.365 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.365 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.365 * [backup-simplify]: Simplify phi1 into phi1 21.365 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.365 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.365 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.365 * [backup-simplify]: Simplify phi2 into phi2 21.365 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.365 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.365 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.365 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.366 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.366 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.366 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.366 * [backup-simplify]: Simplify (- 0) into 0 21.366 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.366 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 21.366 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.366 * [backup-simplify]: Simplify lambda2 into lambda2 21.366 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.367 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.367 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.367 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda1 21.367 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 21.367 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 21.367 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.367 * [backup-simplify]: Simplify phi1 into phi1 21.367 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.367 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.367 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda1 21.367 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 21.367 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.367 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.367 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.367 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.367 * [backup-simplify]: Simplify -0.5 into -0.5 21.367 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.367 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.367 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.367 * [backup-simplify]: Simplify phi1 into phi1 21.367 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.367 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.367 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.367 * [backup-simplify]: Simplify phi2 into phi2 21.367 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.368 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.368 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.368 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.368 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.368 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.368 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.368 * [backup-simplify]: Simplify (- 0) into 0 21.368 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.368 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 21.368 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.368 * [backup-simplify]: Simplify 0 into 0 21.369 * [backup-simplify]: Simplify 1 into 1 21.369 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.369 * [backup-simplify]: Simplify (* 1 1) into 1 21.369 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.369 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 21.369 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 21.369 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.369 * [backup-simplify]: Simplify phi2 into phi2 21.369 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.369 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.369 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 21.369 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 21.369 * [taylor]: Taking taylor expansion of 2 in lambda1 21.369 * [backup-simplify]: Simplify 2 into 2 21.369 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 21.370 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 21.370 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.370 * [backup-simplify]: Simplify phi1 into phi1 21.370 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.370 * [backup-simplify]: Simplify phi2 into phi2 21.370 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.370 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.370 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 21.370 * [taylor]: Taking taylor expansion of 2 in lambda1 21.370 * [backup-simplify]: Simplify 2 into 2 21.370 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 21.370 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.370 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.370 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.370 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.370 * [backup-simplify]: Simplify -0.5 into -0.5 21.370 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.370 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.370 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.370 * [backup-simplify]: Simplify phi1 into phi1 21.370 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.370 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.370 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.370 * [backup-simplify]: Simplify phi2 into phi2 21.370 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.370 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.370 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.370 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.370 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.370 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.370 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.371 * [backup-simplify]: Simplify (- 0) into 0 21.371 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.371 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 21.371 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.371 * [backup-simplify]: Simplify lambda2 into lambda2 21.371 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.371 * [backup-simplify]: Simplify 0 into 0 21.371 * [backup-simplify]: Simplify 1 into 1 21.371 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.371 * [backup-simplify]: Simplify (* lambda2 0) into 0 21.372 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 21.372 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 21.372 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.372 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.372 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.372 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.373 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.373 * [backup-simplify]: Simplify (+ 0) into 0 21.373 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.373 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.373 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.374 * [backup-simplify]: Simplify (+ 0 0) into 0 21.374 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.374 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.375 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.375 * [backup-simplify]: Simplify (- 0) into 0 21.375 * [backup-simplify]: Simplify (+ 0 0) into 0 21.375 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.376 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.377 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 21.377 * [backup-simplify]: Simplify (+ 0 0) into 0 21.377 * [backup-simplify]: Simplify (+ 0 0) into 0 21.377 * [backup-simplify]: Simplify (+ 0 0) into 0 21.377 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.378 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.378 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.378 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.379 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 21.379 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.379 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.379 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.379 * [backup-simplify]: Simplify -0.5 into -0.5 21.379 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.379 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.379 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.379 * [backup-simplify]: Simplify phi1 into phi1 21.379 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.379 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.379 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.379 * [backup-simplify]: Simplify phi2 into phi2 21.379 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.379 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.379 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.379 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.379 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.379 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 21.379 * [taylor]: Taking taylor expansion of -1 in lambda2 21.379 * [backup-simplify]: Simplify -1 into -1 21.379 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 21.379 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.380 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.380 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.380 * [backup-simplify]: Simplify -0.5 into -0.5 21.380 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.380 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.380 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.380 * [backup-simplify]: Simplify phi1 into phi1 21.380 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.380 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.380 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.380 * [backup-simplify]: Simplify phi2 into phi2 21.380 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.380 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.380 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.380 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.380 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.380 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.380 * [backup-simplify]: Simplify 0 into 0 21.380 * [backup-simplify]: Simplify 1 into 1 21.380 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.380 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.381 * [backup-simplify]: Simplify (- 0) into 0 21.381 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.381 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.381 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.381 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 21.381 * [taylor]: Taking taylor expansion of -1 in phi1 21.381 * [backup-simplify]: Simplify -1 into -1 21.381 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.381 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.381 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.381 * [backup-simplify]: Simplify -0.5 into -0.5 21.381 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.381 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.381 * [taylor]: Taking taylor expansion of phi1 in phi1 21.381 * [backup-simplify]: Simplify 0 into 0 21.381 * [backup-simplify]: Simplify 1 into 1 21.381 * [backup-simplify]: Simplify (/ 1 1) into 1 21.381 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.381 * [taylor]: Taking taylor expansion of phi2 in phi1 21.381 * [backup-simplify]: Simplify phi2 into phi2 21.382 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.382 * [backup-simplify]: Simplify (+ 1 0) into 1 21.382 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.382 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.382 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.382 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.383 * [backup-simplify]: Simplify (- 0) into 0 21.383 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.383 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.383 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.383 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.383 * [backup-simplify]: Simplify -0.5 into -0.5 21.383 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.383 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.383 * [taylor]: Taking taylor expansion of phi1 in phi1 21.383 * [backup-simplify]: Simplify 0 into 0 21.383 * [backup-simplify]: Simplify 1 into 1 21.383 * [backup-simplify]: Simplify (/ 1 1) into 1 21.383 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.383 * [taylor]: Taking taylor expansion of phi2 in phi1 21.383 * [backup-simplify]: Simplify phi2 into phi2 21.383 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.384 * [backup-simplify]: Simplify (+ 1 0) into 1 21.384 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.384 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.384 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.385 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.385 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.385 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.385 * [backup-simplify]: Simplify (+ 0 0) into 0 21.386 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.386 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.387 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.387 * [backup-simplify]: Simplify (- 0) into 0 21.387 * [backup-simplify]: Simplify (+ 0 0) into 0 21.388 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 21.388 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 21.389 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 21.389 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi2 2))) into (/ 1 (pow phi2 2)) 21.390 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 21.390 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) 21.390 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 21.390 * [backup-simplify]: Simplify (+ 0) into 0 21.391 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.391 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.391 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.391 * [backup-simplify]: Simplify (+ 0 0) into 0 21.391 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.392 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.392 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.392 * [backup-simplify]: Simplify (- 0) into 0 21.393 * [backup-simplify]: Simplify (+ 0 0) into 0 21.393 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.393 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 21.394 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 21.394 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 21.394 * [backup-simplify]: Simplify (+ (/ 2 (* phi1 phi2)) 0) into (* 2 (/ 1 (* phi1 phi2))) 21.394 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi1 phi2)))) into (- (* 2 (/ 1 (* phi1 phi2)))) 21.395 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) 21.397 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.397 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 21.397 * [taylor]: Taking taylor expansion of 1/2 in lambda2 21.397 * [backup-simplify]: Simplify 1/2 into 1/2 21.397 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 21.397 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2 21.397 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 21.397 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 21.397 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.397 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.397 * [backup-simplify]: Simplify phi2 into phi2 21.398 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.398 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.398 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 21.398 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.398 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.398 * [backup-simplify]: Simplify phi1 into phi1 21.398 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.398 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.398 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 21.398 * [taylor]: Taking taylor expansion of 2 in lambda2 21.398 * [backup-simplify]: Simplify 2 into 2 21.398 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 21.398 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.398 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.398 * [backup-simplify]: Simplify phi1 into phi1 21.398 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.398 * [backup-simplify]: Simplify phi2 into phi2 21.398 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.398 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.398 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.399 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.399 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.399 * [backup-simplify]: Simplify -0.5 into -0.5 21.399 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.399 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.399 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.399 * [backup-simplify]: Simplify phi1 into phi1 21.399 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.399 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.399 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.399 * [backup-simplify]: Simplify phi2 into phi2 21.399 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.399 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.399 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.399 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.400 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.400 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 21.400 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 21.400 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 21.401 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 21.401 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.401 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.405 * [backup-simplify]: Simplify (- 0) into 0 21.406 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.406 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.407 * [backup-simplify]: Simplify (+ 0) into 0 21.408 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.408 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.408 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.408 * [backup-simplify]: Simplify (+ 0 0) into 0 21.409 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.410 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.411 * [backup-simplify]: Simplify (- 0) into 0 21.411 * [backup-simplify]: Simplify (+ 0 0) into 0 21.412 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 21.413 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.413 * [taylor]: Taking taylor expansion of 0 in phi1 21.413 * [backup-simplify]: Simplify 0 into 0 21.413 * [backup-simplify]: Simplify (+ 0) into 0 21.414 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.414 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.414 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.415 * [backup-simplify]: Simplify (+ 0 0) into 0 21.415 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.417 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.418 * [backup-simplify]: Simplify (- 0) into 0 21.418 * [backup-simplify]: Simplify (+ 0 0) into 0 21.418 * [taylor]: Taking taylor expansion of 0 in phi1 21.418 * [backup-simplify]: Simplify 0 into 0 21.418 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.418 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 21.418 * [taylor]: Taking taylor expansion of -1 in phi2 21.418 * [backup-simplify]: Simplify -1 into -1 21.418 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.418 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.418 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.419 * [backup-simplify]: Simplify -0.5 into -0.5 21.419 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.419 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.419 * [taylor]: Taking taylor expansion of phi1 in phi2 21.419 * [backup-simplify]: Simplify phi1 into phi1 21.419 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.419 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.419 * [taylor]: Taking taylor expansion of phi2 in phi2 21.419 * [backup-simplify]: Simplify 0 into 0 21.419 * [backup-simplify]: Simplify 1 into 1 21.419 * [backup-simplify]: Simplify (/ 1 1) into 1 21.420 * [backup-simplify]: Simplify (+ 0 1) into 1 21.420 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.420 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.420 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.420 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.420 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.420 * [backup-simplify]: Simplify -0.5 into -0.5 21.421 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.421 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.421 * [taylor]: Taking taylor expansion of phi1 in phi2 21.421 * [backup-simplify]: Simplify phi1 into phi1 21.421 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.421 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.421 * [taylor]: Taking taylor expansion of phi2 in phi2 21.421 * [backup-simplify]: Simplify 0 into 0 21.421 * [backup-simplify]: Simplify 1 into 1 21.421 * [backup-simplify]: Simplify (/ 1 1) into 1 21.422 * [backup-simplify]: Simplify (+ 0 1) into 1 21.422 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.422 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.423 * [backup-simplify]: Simplify (+ 0) into 0 21.423 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.423 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.423 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.424 * [backup-simplify]: Simplify (+ 0 0) into 0 21.424 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.424 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.425 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.425 * [backup-simplify]: Simplify (- 0) into 0 21.425 * [backup-simplify]: Simplify (+ 0 0) into 0 21.425 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.425 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 21.426 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 21.426 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.426 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 21.427 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 21.427 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 21.427 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.428 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.428 * [backup-simplify]: Simplify (+ 0 0) into 0 21.429 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.429 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 21.430 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 21.430 * [backup-simplify]: Simplify (- 0) into 0 21.430 * [backup-simplify]: Simplify (+ 0 0) into 0 21.431 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 21.432 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 21.433 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 21.433 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.433 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 21.433 * [backup-simplify]: Simplify (+ 0 0) into 0 21.434 * [backup-simplify]: Simplify (+ 0 0) into 0 21.434 * [backup-simplify]: Simplify (+ 0 0) into 0 21.434 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.434 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi1 phi2)) (/ 0 (* phi1 phi2))))) into 0 21.434 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi1 phi2)))) into 0 21.435 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.435 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.435 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.436 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.436 * [backup-simplify]: Simplify (+ 0 0) into 0 21.436 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.437 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.437 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.437 * [backup-simplify]: Simplify (- 0) into 0 21.438 * [backup-simplify]: Simplify (+ 0 0) into 0 21.438 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 21.439 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 21.439 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 21.440 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 21.440 * [backup-simplify]: Simplify (+ 0 0) into 0 21.440 * [backup-simplify]: Simplify (- 0) into 0 21.440 * [backup-simplify]: Simplify (+ 0 0) into 0 21.441 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.441 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 21.441 * [taylor]: Taking taylor expansion of 1/2 in lambda2 21.441 * [backup-simplify]: Simplify 1/2 into 1/2 21.441 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 21.441 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2 21.441 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2 21.441 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2 21.441 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2 21.441 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.441 * [backup-simplify]: Simplify 0 into 0 21.441 * [backup-simplify]: Simplify 1 into 1 21.441 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.441 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.441 * [backup-simplify]: Simplify phi2 into phi2 21.441 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.442 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0 21.442 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.442 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2) 21.442 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.442 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 21.442 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 21.442 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.442 * [backup-simplify]: Simplify 0 into 0 21.442 * [backup-simplify]: Simplify 1 into 1 21.442 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.442 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.442 * [backup-simplify]: Simplify phi1 into phi1 21.442 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.442 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 21.442 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.443 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 21.443 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.443 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2 21.443 * [taylor]: Taking taylor expansion of 2 in lambda2 21.443 * [backup-simplify]: Simplify 2 into 2 21.443 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2 21.443 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2 21.443 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.443 * [backup-simplify]: Simplify 0 into 0 21.443 * [backup-simplify]: Simplify 1 into 1 21.443 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.443 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.443 * [backup-simplify]: Simplify phi1 into phi1 21.443 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.443 * [backup-simplify]: Simplify phi2 into phi2 21.443 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.443 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0 21.443 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.443 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2) 21.443 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.443 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.444 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.444 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.444 * [backup-simplify]: Simplify -0.5 into -0.5 21.444 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.444 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.444 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.444 * [backup-simplify]: Simplify phi1 into phi1 21.444 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.444 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.444 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.444 * [backup-simplify]: Simplify phi2 into phi2 21.444 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.444 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.444 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.444 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.444 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.444 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 21.444 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 21.444 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 21.445 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 21.445 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.445 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.445 * [backup-simplify]: Simplify (- 0) into 0 21.445 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.446 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.446 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.446 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 21.446 * [taylor]: Taking taylor expansion of 1/2 in phi1 21.446 * [backup-simplify]: Simplify 1/2 into 1/2 21.446 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 21.446 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 21.446 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 21.446 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 21.446 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.446 * [taylor]: Taking taylor expansion of phi2 in phi1 21.446 * [backup-simplify]: Simplify phi2 into phi2 21.446 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.446 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.446 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 21.446 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.446 * [taylor]: Taking taylor expansion of phi1 in phi1 21.446 * [backup-simplify]: Simplify 0 into 0 21.446 * [backup-simplify]: Simplify 1 into 1 21.447 * [backup-simplify]: Simplify (* 1 1) into 1 21.447 * [backup-simplify]: Simplify (/ 1 1) into 1 21.447 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 21.447 * [taylor]: Taking taylor expansion of 2 in phi1 21.447 * [backup-simplify]: Simplify 2 into 2 21.447 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 21.447 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.447 * [taylor]: Taking taylor expansion of phi1 in phi1 21.447 * [backup-simplify]: Simplify 0 into 0 21.447 * [backup-simplify]: Simplify 1 into 1 21.447 * [taylor]: Taking taylor expansion of phi2 in phi1 21.447 * [backup-simplify]: Simplify phi2 into phi2 21.447 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.447 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.447 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.447 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.447 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.447 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.447 * [backup-simplify]: Simplify -0.5 into -0.5 21.447 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.447 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.447 * [taylor]: Taking taylor expansion of phi1 in phi1 21.447 * [backup-simplify]: Simplify 0 into 0 21.448 * [backup-simplify]: Simplify 1 into 1 21.448 * [backup-simplify]: Simplify (/ 1 1) into 1 21.448 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.448 * [taylor]: Taking taylor expansion of phi2 in phi1 21.448 * [backup-simplify]: Simplify phi2 into phi2 21.448 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.448 * [backup-simplify]: Simplify (+ 1 0) into 1 21.448 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.448 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.449 * [backup-simplify]: Simplify (+ 0 1) into 1 21.449 * [backup-simplify]: Simplify (+ 1 0) into 1 21.449 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.450 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.450 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.450 * [backup-simplify]: Simplify (+ 0 0) into 0 21.450 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 21.450 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 21.450 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 21.451 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 21.451 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 21.451 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 21.451 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 21.451 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 21.451 * [taylor]: Taking taylor expansion of phi2 in phi2 21.451 * [backup-simplify]: Simplify 0 into 0 21.451 * [backup-simplify]: Simplify 1 into 1 21.451 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.451 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.452 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.452 * [backup-simplify]: Simplify -0.5 into -0.5 21.452 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.452 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.452 * [taylor]: Taking taylor expansion of phi1 in phi2 21.452 * [backup-simplify]: Simplify phi1 into phi1 21.452 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.452 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.452 * [taylor]: Taking taylor expansion of phi2 in phi2 21.452 * [backup-simplify]: Simplify 0 into 0 21.452 * [backup-simplify]: Simplify 1 into 1 21.452 * [backup-simplify]: Simplify (/ 1 1) into 1 21.453 * [backup-simplify]: Simplify (+ 0 1) into 1 21.453 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.453 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.453 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.454 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.454 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.455 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.455 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.456 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.456 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 21.456 * [taylor]: Taking taylor expansion of 1/2 in phi1 21.456 * [backup-simplify]: Simplify 1/2 into 1/2 21.456 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 21.456 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 21.456 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 21.456 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 21.456 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.456 * [taylor]: Taking taylor expansion of phi2 in phi1 21.456 * [backup-simplify]: Simplify phi2 into phi2 21.456 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.456 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.456 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 21.456 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.456 * [taylor]: Taking taylor expansion of phi1 in phi1 21.456 * [backup-simplify]: Simplify 0 into 0 21.456 * [backup-simplify]: Simplify 1 into 1 21.457 * [backup-simplify]: Simplify (* 1 1) into 1 21.457 * [backup-simplify]: Simplify (/ 1 1) into 1 21.457 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 21.457 * [taylor]: Taking taylor expansion of 2 in phi1 21.457 * [backup-simplify]: Simplify 2 into 2 21.457 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 21.457 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.457 * [taylor]: Taking taylor expansion of phi1 in phi1 21.457 * [backup-simplify]: Simplify 0 into 0 21.457 * [backup-simplify]: Simplify 1 into 1 21.457 * [taylor]: Taking taylor expansion of phi2 in phi1 21.457 * [backup-simplify]: Simplify phi2 into phi2 21.457 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.458 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.458 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.458 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.458 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.458 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.458 * [backup-simplify]: Simplify -0.5 into -0.5 21.458 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.458 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.458 * [taylor]: Taking taylor expansion of phi1 in phi1 21.458 * [backup-simplify]: Simplify 0 into 0 21.458 * [backup-simplify]: Simplify 1 into 1 21.458 * [backup-simplify]: Simplify (/ 1 1) into 1 21.459 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.459 * [taylor]: Taking taylor expansion of phi2 in phi1 21.459 * [backup-simplify]: Simplify phi2 into phi2 21.459 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.459 * [backup-simplify]: Simplify (+ 1 0) into 1 21.459 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.460 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.460 * [backup-simplify]: Simplify (+ 0 1) into 1 21.461 * [backup-simplify]: Simplify (+ 1 0) into 1 21.461 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.461 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.462 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.463 * [backup-simplify]: Simplify (+ 0 0) into 0 21.463 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 21.463 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 21.463 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 21.464 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 21.464 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 21.464 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 21.464 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 21.464 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 21.464 * [taylor]: Taking taylor expansion of phi2 in phi2 21.464 * [backup-simplify]: Simplify 0 into 0 21.464 * [backup-simplify]: Simplify 1 into 1 21.464 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.464 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.464 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.464 * [backup-simplify]: Simplify -0.5 into -0.5 21.464 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.465 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.465 * [taylor]: Taking taylor expansion of phi1 in phi2 21.465 * [backup-simplify]: Simplify phi1 into phi1 21.465 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.465 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.465 * [taylor]: Taking taylor expansion of phi2 in phi2 21.465 * [backup-simplify]: Simplify 0 into 0 21.465 * [backup-simplify]: Simplify 1 into 1 21.465 * [backup-simplify]: Simplify (/ 1 1) into 1 21.466 * [backup-simplify]: Simplify (+ 0 1) into 1 21.466 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.466 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.466 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.467 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.467 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.468 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.468 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.469 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.470 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.470 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.470 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.470 * [backup-simplify]: Simplify (+ 0 0) into 0 21.471 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.472 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.472 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.472 * [backup-simplify]: Simplify (- 0) into 0 21.472 * [backup-simplify]: Simplify (+ 0 0) into 0 21.473 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 21.474 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 21.474 * [taylor]: Taking taylor expansion of 0 in phi1 21.474 * [backup-simplify]: Simplify 0 into 0 21.475 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.475 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.475 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.475 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.475 * [backup-simplify]: Simplify (+ 0 0) into 0 21.476 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.476 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.477 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.477 * [backup-simplify]: Simplify (- 0) into 0 21.477 * [backup-simplify]: Simplify (+ 0 0) into 0 21.477 * [taylor]: Taking taylor expansion of 0 in phi1 21.477 * [backup-simplify]: Simplify 0 into 0 21.477 * [taylor]: Taking taylor expansion of 0 in phi2 21.477 * [backup-simplify]: Simplify 0 into 0 21.477 * [taylor]: Taking taylor expansion of 0 in phi2 21.477 * [backup-simplify]: Simplify 0 into 0 21.478 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.478 * [taylor]: Taking taylor expansion of 0 in phi2 21.478 * [backup-simplify]: Simplify 0 into 0 21.478 * [taylor]: Taking taylor expansion of 0 in phi2 21.478 * [backup-simplify]: Simplify 0 into 0 21.478 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.478 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.479 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1)))) (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1)))))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2))))))) into (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))))) 21.480 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1) 21.480 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) 21.480 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in (lambda1 lambda2 phi1 phi2) around 0 21.480 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in phi2 21.480 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in phi2 21.480 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in phi2 21.480 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 21.480 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 21.480 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.480 * [backup-simplify]: Simplify lambda2 into lambda2 21.480 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 21.480 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 21.480 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 21.480 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.480 * [backup-simplify]: Simplify 0.5 into 0.5 21.480 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 21.480 * [taylor]: Taking taylor expansion of phi1 in phi2 21.480 * [backup-simplify]: Simplify phi1 into phi1 21.480 * [taylor]: Taking taylor expansion of phi2 in phi2 21.480 * [backup-simplify]: Simplify 0 into 0 21.480 * [backup-simplify]: Simplify 1 into 1 21.480 * [backup-simplify]: Simplify (+ phi1 0) into phi1 21.480 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 21.480 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 21.481 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 21.481 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 21.481 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 21.481 * [backup-simplify]: Simplify (- 0) into 0 21.481 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 21.481 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in phi2 21.481 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 21.481 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 21.481 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.481 * [backup-simplify]: Simplify lambda1 into lambda1 21.481 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 21.481 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 21.481 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 21.481 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.481 * [backup-simplify]: Simplify 0.5 into 0.5 21.481 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 21.481 * [taylor]: Taking taylor expansion of phi1 in phi2 21.481 * [backup-simplify]: Simplify phi1 into phi1 21.481 * [taylor]: Taking taylor expansion of phi2 in phi2 21.481 * [backup-simplify]: Simplify 0 into 0 21.481 * [backup-simplify]: Simplify 1 into 1 21.481 * [backup-simplify]: Simplify (+ phi1 0) into phi1 21.481 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 21.481 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 21.482 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 21.482 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 21.482 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 21.482 * [backup-simplify]: Simplify (- 0) into 0 21.482 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 21.482 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi2 21.482 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 21.482 * [taylor]: Taking taylor expansion of phi1 in phi2 21.482 * [backup-simplify]: Simplify phi1 into phi1 21.482 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 21.482 * [taylor]: Taking taylor expansion of phi2 in phi2 21.482 * [backup-simplify]: Simplify 0 into 0 21.482 * [backup-simplify]: Simplify 1 into 1 21.482 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in phi2 21.482 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi2 21.482 * [taylor]: Taking taylor expansion of 2 in phi2 21.482 * [backup-simplify]: Simplify 2 into 2 21.482 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 21.482 * [taylor]: Taking taylor expansion of phi1 in phi2 21.482 * [backup-simplify]: Simplify phi1 into phi1 21.482 * [taylor]: Taking taylor expansion of phi2 in phi2 21.482 * [backup-simplify]: Simplify 0 into 0 21.482 * [backup-simplify]: Simplify 1 into 1 21.482 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in phi2 21.482 * [taylor]: Taking taylor expansion of 2 in phi2 21.482 * [backup-simplify]: Simplify 2 into 2 21.482 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi2 21.482 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.482 * [backup-simplify]: Simplify lambda2 into lambda2 21.482 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi2 21.482 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.482 * [backup-simplify]: Simplify lambda1 into lambda1 21.482 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi2 21.482 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 21.482 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 21.482 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.482 * [backup-simplify]: Simplify 0.5 into 0.5 21.482 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 21.482 * [taylor]: Taking taylor expansion of phi1 in phi2 21.482 * [backup-simplify]: Simplify phi1 into phi1 21.482 * [taylor]: Taking taylor expansion of phi2 in phi2 21.482 * [backup-simplify]: Simplify 0 into 0 21.483 * [backup-simplify]: Simplify 1 into 1 21.483 * [backup-simplify]: Simplify (+ phi1 0) into phi1 21.483 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 21.483 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 21.483 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 21.483 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1)) 21.483 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0 21.483 * [backup-simplify]: Simplify (- 0) into 0 21.483 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1)) 21.483 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.483 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 21.483 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) 21.483 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.484 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 21.484 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 21.484 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.484 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 21.484 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 21.485 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) 21.485 * [backup-simplify]: Simplify (* phi1 0) into 0 21.485 * [backup-simplify]: Simplify (* 2 0) into 0 21.485 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2) 21.485 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) lambda1) 21.485 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))) 21.485 * [backup-simplify]: Simplify (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) 21.486 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))) 21.486 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) 21.487 * [backup-simplify]: Simplify (+ (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) 21.487 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) into (sqrt (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))) 21.488 * [backup-simplify]: Simplify (+ 0) into 0 21.488 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 21.488 * [backup-simplify]: Simplify (+ 0 1) into 1 21.489 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 21.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 21.491 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 21.491 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 21.491 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 21.491 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 21.491 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 21.492 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 21.492 * [backup-simplify]: Simplify (+ 0) into 0 21.492 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 21.493 * [backup-simplify]: Simplify (+ 0 1) into 1 21.493 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 21.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 21.495 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 21.495 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 21.495 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 21.495 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 21.495 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 21.496 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 21.496 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.496 * [backup-simplify]: Simplify (+ 0 0) into 0 21.497 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 0) into (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 21.498 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (- (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) into (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) 21.498 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 21.498 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1) 21.499 * [backup-simplify]: Simplify (+ 0) into 0 21.499 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0 21.499 * [backup-simplify]: Simplify (+ 0 1) into 1 21.500 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5 21.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 21.501 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1))) 21.501 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1)))) 21.501 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1)))) 21.502 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 21.502 * [backup-simplify]: Simplify (+ (* lambda1 (- (+ (* 0.5 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))) (* 0.5 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (+ (* 0.5 (* lambda1 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* lambda1 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 21.503 * [backup-simplify]: Simplify (+ (* lambda2 (- (+ (* 0.5 (* lambda1 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* lambda1 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) 21.504 * [backup-simplify]: Simplify (+ (* 2 (- (+ (* 0.5 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 0.5 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (* 0 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))) into (- (+ (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1)))))))) 21.505 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (+ (* 1.0 (* lambda2 (* (sin (* 0.5 phi1)) (* lambda1 (cos (* 0.5 phi1)))))) (* 1.0 (* lambda2 (* (cos (* 0.5 phi1)) (* lambda1 (sin (* 0.5 phi1))))))))) into (- (* 2 phi1) (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) 21.506 * [backup-simplify]: Simplify (- (- (* 2 phi1) (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) into (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 2 phi1)) 21.510 * [backup-simplify]: Simplify (+ (- (+ (* 0.5 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (* 2 phi1))) into (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) 21.515 * [backup-simplify]: Simplify (/ (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi1)) 2)) (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) (pow phi1 2))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi1)) 2))))))) (- (+ (* 1.0 (* lambda1 (* lambda2 (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1)))))) (* 1.0 (* lambda1 (* lambda2 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (+ (* 1.0 (* (pow lambda2 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (+ (* 2 phi1) (+ (* 0.5 (* (pow lambda1 2) (* (sin (* 0.5 phi1)) (cos (* 0.5 phi1))))) (* 0.5 (* (pow lambda1 2) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))))) 21.515 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in phi1 21.515 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in phi1 21.515 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in phi1 21.516 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 21.516 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 21.516 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.516 * [backup-simplify]: Simplify lambda2 into lambda2 21.516 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 21.516 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 21.516 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 21.516 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.516 * [backup-simplify]: Simplify 0.5 into 0.5 21.516 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 21.516 * [taylor]: Taking taylor expansion of phi1 in phi1 21.516 * [backup-simplify]: Simplify 0 into 0 21.516 * [backup-simplify]: Simplify 1 into 1 21.516 * [taylor]: Taking taylor expansion of phi2 in phi1 21.516 * [backup-simplify]: Simplify phi2 into phi2 21.516 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 21.516 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 21.516 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 21.516 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 21.516 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 21.516 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 21.517 * [backup-simplify]: Simplify (- 0) into 0 21.517 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 21.517 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in phi1 21.517 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 21.517 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 21.517 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.517 * [backup-simplify]: Simplify lambda1 into lambda1 21.517 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 21.517 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 21.517 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 21.517 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.517 * [backup-simplify]: Simplify 0.5 into 0.5 21.517 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 21.517 * [taylor]: Taking taylor expansion of phi1 in phi1 21.517 * [backup-simplify]: Simplify 0 into 0 21.517 * [backup-simplify]: Simplify 1 into 1 21.517 * [taylor]: Taking taylor expansion of phi2 in phi1 21.517 * [backup-simplify]: Simplify phi2 into phi2 21.517 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 21.517 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 21.518 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 21.518 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 21.518 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 21.518 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 21.518 * [backup-simplify]: Simplify (- 0) into 0 21.518 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 21.518 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1 21.518 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.518 * [taylor]: Taking taylor expansion of phi1 in phi1 21.518 * [backup-simplify]: Simplify 0 into 0 21.519 * [backup-simplify]: Simplify 1 into 1 21.519 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.519 * [taylor]: Taking taylor expansion of phi2 in phi1 21.519 * [backup-simplify]: Simplify phi2 into phi2 21.519 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in phi1 21.519 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 21.519 * [taylor]: Taking taylor expansion of 2 in phi1 21.519 * [backup-simplify]: Simplify 2 into 2 21.519 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.519 * [taylor]: Taking taylor expansion of phi1 in phi1 21.519 * [backup-simplify]: Simplify 0 into 0 21.519 * [backup-simplify]: Simplify 1 into 1 21.519 * [taylor]: Taking taylor expansion of phi2 in phi1 21.519 * [backup-simplify]: Simplify phi2 into phi2 21.519 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in phi1 21.519 * [taylor]: Taking taylor expansion of 2 in phi1 21.519 * [backup-simplify]: Simplify 2 into 2 21.519 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 21.519 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.519 * [backup-simplify]: Simplify lambda2 into lambda2 21.519 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 21.519 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.519 * [backup-simplify]: Simplify lambda1 into lambda1 21.519 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 21.519 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 21.519 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 21.519 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.519 * [backup-simplify]: Simplify 0.5 into 0.5 21.519 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 21.519 * [taylor]: Taking taylor expansion of phi1 in phi1 21.519 * [backup-simplify]: Simplify 0 into 0 21.519 * [backup-simplify]: Simplify 1 into 1 21.519 * [taylor]: Taking taylor expansion of phi2 in phi1 21.519 * [backup-simplify]: Simplify phi2 into phi2 21.519 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 21.519 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 21.519 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 21.520 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 21.520 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 21.520 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 21.520 * [backup-simplify]: Simplify (- 0) into 0 21.520 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 21.520 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.521 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 21.521 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) 21.521 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.521 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 21.521 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) 21.521 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.522 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2) 21.522 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (pow phi2 2)) into (+ (pow phi2 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2))) 21.523 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) (+ (pow phi2 2) (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)))) into (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) 21.523 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.527 * [backup-simplify]: Simplify (* 2 0) into 0 21.527 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 21.528 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 phi2)) 2)) into (* lambda1 (pow (cos (* 0.5 phi2)) 2)) 21.528 * [backup-simplify]: Simplify (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))) into (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))) 21.529 * [backup-simplify]: Simplify (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) 21.529 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) 21.529 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) 21.531 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (- (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) 21.533 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))) 21.534 * [backup-simplify]: Simplify (+ 0) into 0 21.535 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 21.535 * [backup-simplify]: Simplify (+ 1 0) into 1 21.536 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 21.538 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 21.539 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 21.539 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 21.539 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 21.540 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 21.540 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 21.541 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 21.541 * [backup-simplify]: Simplify (+ 0) into 0 21.542 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 21.542 * [backup-simplify]: Simplify (+ 1 0) into 1 21.543 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 21.545 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 21.546 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 21.546 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 21.546 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 21.546 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 21.546 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 21.547 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 21.547 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.548 * [backup-simplify]: Simplify (+ 0 0) into 0 21.548 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 0) into (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 21.549 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (- (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) into (- (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 21.550 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.550 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 21.550 * [backup-simplify]: Simplify (+ 0) into 0 21.551 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 21.551 * [backup-simplify]: Simplify (+ 1 0) into 1 21.552 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 21.555 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 21.556 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 21.556 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 21.556 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 21.556 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) 21.557 * [backup-simplify]: Simplify (+ (* lambda1 (- (* 1.0 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) 21.557 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (* 0 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))) into (- (* 1.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 21.558 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) (* 0 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 21.559 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) into (- (* 2 phi2) (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) 21.559 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 2 phi2)) 21.561 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (* 2 phi2))) into (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) 21.564 * [backup-simplify]: Simplify (/ (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2)))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 phi2)) 2)) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)))) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 phi2)) 2))))))) (- (* 2.0 (* lambda2 (* lambda1 (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))) (+ (* 1.0 (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (+ (* 1.0 (* (pow lambda1 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))) (* 2 phi2)))))) 21.564 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda2 21.564 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda2 21.564 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda2 21.564 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 21.564 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.564 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.564 * [backup-simplify]: Simplify 0 into 0 21.564 * [backup-simplify]: Simplify 1 into 1 21.564 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.564 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.564 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.564 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.564 * [backup-simplify]: Simplify 0.5 into 0.5 21.565 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.565 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.565 * [backup-simplify]: Simplify phi1 into phi1 21.565 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.565 * [backup-simplify]: Simplify phi2 into phi2 21.565 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.565 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.565 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.565 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.565 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.565 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.566 * [backup-simplify]: Simplify (- 0) into 0 21.566 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.566 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2 21.566 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 21.566 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 21.566 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.566 * [backup-simplify]: Simplify lambda1 into lambda1 21.566 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.566 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.566 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.566 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.566 * [backup-simplify]: Simplify 0.5 into 0.5 21.567 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.567 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.567 * [backup-simplify]: Simplify phi1 into phi1 21.567 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.567 * [backup-simplify]: Simplify phi2 into phi2 21.567 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.567 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.567 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.567 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.567 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.567 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.568 * [backup-simplify]: Simplify (- 0) into 0 21.568 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.568 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2 21.568 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.568 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.568 * [backup-simplify]: Simplify phi1 into phi1 21.568 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.568 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.568 * [backup-simplify]: Simplify phi2 into phi2 21.568 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda2 21.568 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 21.568 * [taylor]: Taking taylor expansion of 2 in lambda2 21.568 * [backup-simplify]: Simplify 2 into 2 21.568 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.568 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.568 * [backup-simplify]: Simplify phi1 into phi1 21.568 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.568 * [backup-simplify]: Simplify phi2 into phi2 21.568 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 21.568 * [taylor]: Taking taylor expansion of 2 in lambda2 21.569 * [backup-simplify]: Simplify 2 into 2 21.569 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 21.569 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.569 * [backup-simplify]: Simplify 0 into 0 21.569 * [backup-simplify]: Simplify 1 into 1 21.569 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 21.569 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.569 * [backup-simplify]: Simplify lambda1 into lambda1 21.569 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.569 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.569 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.569 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.569 * [backup-simplify]: Simplify 0.5 into 0.5 21.569 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.569 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.569 * [backup-simplify]: Simplify phi1 into phi1 21.569 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.569 * [backup-simplify]: Simplify phi2 into phi2 21.569 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.569 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.569 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.569 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.570 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.570 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.570 * [backup-simplify]: Simplify (- 0) into 0 21.570 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.570 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.571 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.571 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 21.571 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.571 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.571 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 21.572 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) 21.573 * [backup-simplify]: Simplify (+ 0 (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) into (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) 21.573 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.573 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 21.573 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.573 * [backup-simplify]: Simplify (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 21.573 * [backup-simplify]: Simplify (* 0 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 21.574 * [backup-simplify]: Simplify (* 2 0) into 0 21.574 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 21.574 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 21.575 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2))) 21.576 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))) 21.576 * [backup-simplify]: Simplify (+ 0) into 0 21.576 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 21.577 * [backup-simplify]: Simplify (+ 0 0) into 0 21.577 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 21.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.578 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 21.578 * [backup-simplify]: Simplify (- 0) into 0 21.578 * [backup-simplify]: Simplify (+ 0 0) into 0 21.578 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 21.578 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0 21.579 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 21.579 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.579 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.579 * [backup-simplify]: Simplify (+ 0 0) into 0 21.579 * [backup-simplify]: Simplify (+ 0 0) into 0 21.579 * [backup-simplify]: Simplify (+ 0 0) into 0 21.580 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.580 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 21.580 * [backup-simplify]: Simplify (+ 0) into 0 21.580 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 21.581 * [backup-simplify]: Simplify (+ 0 0) into 0 21.581 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 21.581 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.582 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 21.582 * [backup-simplify]: Simplify (- 0) into 0 21.582 * [backup-simplify]: Simplify (+ 0 0) into 0 21.582 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 21.583 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 21.583 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 21.583 * [backup-simplify]: Simplify (+ (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.584 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.584 * [backup-simplify]: Simplify (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 21.584 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 21.585 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (pow phi1 2))) (* 2 (* phi1 phi2))))))) 21.585 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda1 21.585 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda1 21.585 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda1 21.585 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 21.585 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 21.585 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.585 * [backup-simplify]: Simplify lambda2 into lambda2 21.585 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 21.585 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 21.585 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 21.585 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.585 * [backup-simplify]: Simplify 0.5 into 0.5 21.585 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 21.585 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.585 * [backup-simplify]: Simplify phi1 into phi1 21.585 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.585 * [backup-simplify]: Simplify phi2 into phi2 21.585 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.585 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.585 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.585 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.586 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.586 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.586 * [backup-simplify]: Simplify (- 0) into 0 21.586 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.586 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda1 21.586 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 21.586 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 21.586 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.586 * [backup-simplify]: Simplify 0 into 0 21.586 * [backup-simplify]: Simplify 1 into 1 21.586 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 21.586 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 21.586 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 21.586 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.586 * [backup-simplify]: Simplify 0.5 into 0.5 21.586 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 21.586 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.586 * [backup-simplify]: Simplify phi1 into phi1 21.586 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.586 * [backup-simplify]: Simplify phi2 into phi2 21.586 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.586 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.586 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.586 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.587 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.587 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.587 * [backup-simplify]: Simplify (- 0) into 0 21.587 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.587 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda1 21.587 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 21.587 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.587 * [backup-simplify]: Simplify phi1 into phi1 21.587 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 21.587 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.587 * [backup-simplify]: Simplify phi2 into phi2 21.587 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda1 21.587 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda1 21.587 * [taylor]: Taking taylor expansion of 2 in lambda1 21.587 * [backup-simplify]: Simplify 2 into 2 21.587 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 21.587 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.587 * [backup-simplify]: Simplify phi1 into phi1 21.587 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.587 * [backup-simplify]: Simplify phi2 into phi2 21.587 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda1 21.587 * [taylor]: Taking taylor expansion of 2 in lambda1 21.587 * [backup-simplify]: Simplify 2 into 2 21.587 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda1 21.587 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.587 * [backup-simplify]: Simplify lambda2 into lambda2 21.587 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 21.587 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.587 * [backup-simplify]: Simplify 0 into 0 21.587 * [backup-simplify]: Simplify 1 into 1 21.587 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 21.587 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 21.587 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 21.587 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.587 * [backup-simplify]: Simplify 0.5 into 0.5 21.588 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 21.588 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.588 * [backup-simplify]: Simplify phi1 into phi1 21.588 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.588 * [backup-simplify]: Simplify phi2 into phi2 21.588 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.588 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.588 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.588 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.588 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.588 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.588 * [backup-simplify]: Simplify (- 0) into 0 21.588 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.589 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.589 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.589 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 21.589 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.589 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.589 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 21.589 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 21.590 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 21.590 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.590 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 21.590 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.590 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 21.590 * [backup-simplify]: Simplify (* lambda2 0) into 0 21.590 * [backup-simplify]: Simplify (* 2 0) into 0 21.590 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 21.590 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 21.591 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) 21.592 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) 21.592 * [backup-simplify]: Simplify (+ 0) into 0 21.592 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 21.593 * [backup-simplify]: Simplify (+ 0 0) into 0 21.593 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 21.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.594 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 21.594 * [backup-simplify]: Simplify (- 0) into 0 21.594 * [backup-simplify]: Simplify (+ 0 0) into 0 21.594 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 21.594 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 21.594 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 21.595 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.595 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.595 * [backup-simplify]: Simplify (+ 0 0) into 0 21.595 * [backup-simplify]: Simplify (+ 0 0) into 0 21.595 * [backup-simplify]: Simplify (+ 0 0) into 0 21.595 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.596 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 21.596 * [backup-simplify]: Simplify (+ 0) into 0 21.596 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 21.597 * [backup-simplify]: Simplify (+ 0 0) into 0 21.597 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 21.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.598 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 21.598 * [backup-simplify]: Simplify (- 0) into 0 21.598 * [backup-simplify]: Simplify (+ 0 0) into 0 21.598 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 21.599 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.599 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 21.600 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.600 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.600 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 21.600 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 21.601 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 21.601 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))))) in lambda1 21.601 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))))) in lambda1 21.601 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2)))) in lambda1 21.601 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 21.601 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 21.601 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.601 * [backup-simplify]: Simplify lambda2 into lambda2 21.601 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 21.601 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 21.601 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 21.601 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.601 * [backup-simplify]: Simplify 0.5 into 0.5 21.601 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 21.601 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.601 * [backup-simplify]: Simplify phi1 into phi1 21.601 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.601 * [backup-simplify]: Simplify phi2 into phi2 21.601 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.601 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.602 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.602 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.602 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.602 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.602 * [backup-simplify]: Simplify (- 0) into 0 21.602 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.602 * [taylor]: Taking taylor expansion of (+ (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda1 21.602 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 21.602 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 21.602 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.602 * [backup-simplify]: Simplify 0 into 0 21.602 * [backup-simplify]: Simplify 1 into 1 21.602 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 21.602 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 21.602 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 21.602 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.602 * [backup-simplify]: Simplify 0.5 into 0.5 21.602 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 21.602 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.602 * [backup-simplify]: Simplify phi1 into phi1 21.602 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.602 * [backup-simplify]: Simplify phi2 into phi2 21.602 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.603 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.603 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.603 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.603 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.603 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.603 * [backup-simplify]: Simplify (- 0) into 0 21.603 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.603 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda1 21.603 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 21.603 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.604 * [backup-simplify]: Simplify phi1 into phi1 21.604 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 21.604 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.604 * [backup-simplify]: Simplify phi2 into phi2 21.604 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi1 phi2)) (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) in lambda1 21.604 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda1 21.604 * [taylor]: Taking taylor expansion of 2 in lambda1 21.604 * [backup-simplify]: Simplify 2 into 2 21.604 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 21.604 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.604 * [backup-simplify]: Simplify phi1 into phi1 21.604 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.604 * [backup-simplify]: Simplify phi2 into phi2 21.604 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda1 21.604 * [taylor]: Taking taylor expansion of 2 in lambda1 21.604 * [backup-simplify]: Simplify 2 into 2 21.604 * [taylor]: Taking taylor expansion of (* lambda2 (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda1 21.604 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.604 * [backup-simplify]: Simplify lambda2 into lambda2 21.604 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda1 21.604 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.604 * [backup-simplify]: Simplify 0 into 0 21.604 * [backup-simplify]: Simplify 1 into 1 21.604 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda1 21.604 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda1 21.604 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda1 21.604 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.604 * [backup-simplify]: Simplify 0.5 into 0.5 21.604 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda1 21.604 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.604 * [backup-simplify]: Simplify phi1 into phi1 21.604 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.604 * [backup-simplify]: Simplify phi2 into phi2 21.604 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.604 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.604 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.605 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.605 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.605 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.605 * [backup-simplify]: Simplify (- 0) into 0 21.605 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.605 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.606 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.606 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 21.606 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.606 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.606 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2)) 21.606 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2)) 21.607 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 21.607 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.607 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 21.607 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.608 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 21.608 * [backup-simplify]: Simplify (* lambda2 0) into 0 21.608 * [backup-simplify]: Simplify (* 2 0) into 0 21.608 * [backup-simplify]: Simplify (+ (* 2 (* phi1 phi2)) 0) into (* 2 (* phi1 phi2)) 21.608 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 21.609 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) 21.610 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) 21.611 * [backup-simplify]: Simplify (+ 0) into 0 21.611 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 21.611 * [backup-simplify]: Simplify (+ 0 0) into 0 21.612 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 21.612 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.613 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 21.613 * [backup-simplify]: Simplify (- 0) into 0 21.614 * [backup-simplify]: Simplify (+ 0 0) into 0 21.614 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 21.614 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 21.614 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into 0 21.614 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.614 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.615 * [backup-simplify]: Simplify (+ 0 0) into 0 21.615 * [backup-simplify]: Simplify (+ 0 0) into 0 21.615 * [backup-simplify]: Simplify (+ 0 0) into 0 21.616 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.616 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 21.616 * [backup-simplify]: Simplify (+ 0) into 0 21.617 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 21.617 * [backup-simplify]: Simplify (+ 0 0) into 0 21.618 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 21.618 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.619 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 21.619 * [backup-simplify]: Simplify (- 0) into 0 21.619 * [backup-simplify]: Simplify (+ 0 0) into 0 21.620 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 21.620 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.621 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 21.621 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.622 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.622 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 21.622 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) 21.624 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 21.624 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 21.624 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 21.624 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 21.624 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.624 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.624 * [backup-simplify]: Simplify phi2 into phi2 21.624 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 21.624 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.624 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.624 * [backup-simplify]: Simplify phi1 into phi1 21.624 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 21.624 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.624 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.624 * [backup-simplify]: Simplify 0 into 0 21.624 * [backup-simplify]: Simplify 1 into 1 21.624 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.624 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.624 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.624 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.624 * [backup-simplify]: Simplify 0.5 into 0.5 21.624 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.624 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.624 * [backup-simplify]: Simplify phi1 into phi1 21.624 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.624 * [backup-simplify]: Simplify phi2 into phi2 21.624 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.625 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.625 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.625 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.625 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.625 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.626 * [backup-simplify]: Simplify (- 0) into 0 21.626 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.626 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 21.626 * [taylor]: Taking taylor expansion of 2 in lambda2 21.626 * [backup-simplify]: Simplify 2 into 2 21.626 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.626 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.626 * [backup-simplify]: Simplify phi1 into phi1 21.626 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.626 * [backup-simplify]: Simplify phi2 into phi2 21.626 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.626 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.626 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 21.627 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 21.627 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.627 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 21.627 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 21.627 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 21.628 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 21.628 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.628 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.628 * [backup-simplify]: Simplify (+ 0 0) into 0 21.629 * [backup-simplify]: Simplify (+ 0 0) into 0 21.629 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.629 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 21.629 * [backup-simplify]: Simplify (- 0) into 0 21.630 * [backup-simplify]: Simplify (+ 0 0) into 0 21.630 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0 21.630 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 21.630 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 21.630 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 21.630 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.630 * [taylor]: Taking taylor expansion of phi2 in phi1 21.630 * [backup-simplify]: Simplify phi2 into phi2 21.630 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.630 * [taylor]: Taking taylor expansion of phi1 in phi1 21.630 * [backup-simplify]: Simplify 0 into 0 21.630 * [backup-simplify]: Simplify 1 into 1 21.630 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 21.631 * [taylor]: Taking taylor expansion of 2 in phi1 21.631 * [backup-simplify]: Simplify 2 into 2 21.631 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.631 * [taylor]: Taking taylor expansion of phi1 in phi1 21.631 * [backup-simplify]: Simplify 0 into 0 21.631 * [backup-simplify]: Simplify 1 into 1 21.631 * [taylor]: Taking taylor expansion of phi2 in phi1 21.631 * [backup-simplify]: Simplify phi2 into phi2 21.631 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.631 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.631 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.631 * [backup-simplify]: Simplify (* 2 0) into 0 21.632 * [backup-simplify]: Simplify (- 0) into 0 21.632 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.632 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2 21.632 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.632 * [backup-simplify]: Simplify (+ 0 0) into 0 21.633 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.633 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 21.633 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 21.633 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 21.633 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1 21.633 * [taylor]: Taking taylor expansion of phi2 in phi2 21.633 * [backup-simplify]: Simplify 0 into 0 21.634 * [backup-simplify]: Simplify 1 into 1 21.634 * [backup-simplify]: Simplify 0 into 0 21.634 * [taylor]: Taking taylor expansion of (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2 21.634 * [taylor]: Taking taylor expansion of -1 in lambda2 21.634 * [backup-simplify]: Simplify -1 into -1 21.634 * [taylor]: Taking taylor expansion of (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2 21.634 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 21.634 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.634 * [backup-simplify]: Simplify 0 into 0 21.634 * [backup-simplify]: Simplify 1 into 1 21.634 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.634 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.634 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.634 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.634 * [backup-simplify]: Simplify 0.5 into 0.5 21.634 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.634 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.634 * [backup-simplify]: Simplify phi1 into phi1 21.634 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.634 * [backup-simplify]: Simplify phi2 into phi2 21.634 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.634 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.634 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.634 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.634 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.635 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.635 * [backup-simplify]: Simplify (- 0) into 0 21.635 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.635 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 21.635 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 21.635 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 21.635 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 21.635 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.635 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.635 * [backup-simplify]: Simplify phi2 into phi2 21.635 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 21.635 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.635 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.635 * [backup-simplify]: Simplify phi1 into phi1 21.635 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 21.635 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.635 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.635 * [backup-simplify]: Simplify 0 into 0 21.635 * [backup-simplify]: Simplify 1 into 1 21.636 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.636 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.636 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.636 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.636 * [backup-simplify]: Simplify 0.5 into 0.5 21.636 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.636 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.636 * [backup-simplify]: Simplify phi1 into phi1 21.636 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.636 * [backup-simplify]: Simplify phi2 into phi2 21.636 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.636 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.636 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.636 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.636 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.636 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.637 * [backup-simplify]: Simplify (- 0) into 0 21.637 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.637 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 21.637 * [taylor]: Taking taylor expansion of 2 in lambda2 21.637 * [backup-simplify]: Simplify 2 into 2 21.637 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.637 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.637 * [backup-simplify]: Simplify phi1 into phi1 21.637 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.637 * [backup-simplify]: Simplify phi2 into phi2 21.637 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.637 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.637 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 21.637 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 21.637 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.638 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 21.638 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 21.638 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 21.638 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 21.639 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) 21.639 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.639 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.640 * [backup-simplify]: Simplify (+ 0 0) into 0 21.640 * [backup-simplify]: Simplify (+ 0 0) into 0 21.640 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.641 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 21.641 * [backup-simplify]: Simplify (- 0) into 0 21.641 * [backup-simplify]: Simplify (+ 0 0) into 0 21.642 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 21.642 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 21.643 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.643 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into 0 21.643 * [backup-simplify]: Simplify (* 0 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into 0 21.644 * [backup-simplify]: Simplify (* -1 0) into 0 21.644 * [taylor]: Taking taylor expansion of 0 in phi1 21.644 * [backup-simplify]: Simplify 0 into 0 21.644 * [taylor]: Taking taylor expansion of 0 in phi2 21.644 * [backup-simplify]: Simplify 0 into 0 21.644 * [backup-simplify]: Simplify 0 into 0 21.644 * [taylor]: Taking taylor expansion of 0 in phi1 21.644 * [backup-simplify]: Simplify 0 into 0 21.644 * [taylor]: Taking taylor expansion of 0 in phi2 21.644 * [backup-simplify]: Simplify 0 into 0 21.644 * [backup-simplify]: Simplify 0 into 0 21.644 * [taylor]: Taking taylor expansion of -1 in phi2 21.644 * [backup-simplify]: Simplify -1 into -1 21.644 * [backup-simplify]: Simplify -1 into -1 21.644 * [backup-simplify]: Simplify 1 into 1 21.645 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.646 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0 21.646 * [backup-simplify]: Simplify (+ 0 0) into 0 21.647 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0 21.648 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.648 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0 21.649 * [backup-simplify]: Simplify (- 0) into 0 21.649 * [backup-simplify]: Simplify (+ 0 0) into 0 21.649 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0 21.650 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0 21.651 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into 0 21.651 * [backup-simplify]: Simplify (* 1 1) into 1 21.651 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.651 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.652 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 21.652 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 21.652 * [backup-simplify]: Simplify (+ 0 0) into 0 21.653 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.653 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.653 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0 21.654 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0 21.655 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.656 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 1))) into 0 21.656 * [backup-simplify]: Simplify (+ 0 0) into 0 21.657 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi1 phi2)))) into 0 21.657 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.658 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 0))) into 0 21.658 * [backup-simplify]: Simplify (- 0) into 0 21.659 * [backup-simplify]: Simplify (+ 0 0) into 0 21.659 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi1 phi2)))))) into 0 21.660 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) into 0 21.661 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (* 0 0))) into 0 21.662 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0))) into 0 21.662 * [backup-simplify]: Simplify (+ 0 0) into 0 21.662 * [backup-simplify]: Simplify (- 0) into 0 21.662 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.665 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (* -1 (* (* lambda2 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) 21.666 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))))) in lambda2 21.666 * [taylor]: Taking taylor expansion of 1/2 in lambda2 21.666 * [backup-simplify]: Simplify 1/2 into 1/2 21.666 * [taylor]: Taking taylor expansion of (* (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))))) in lambda2 21.666 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 21.666 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.666 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.666 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.666 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.666 * [backup-simplify]: Simplify 0.5 into 0.5 21.666 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.666 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.666 * [backup-simplify]: Simplify phi1 into phi1 21.666 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.666 * [backup-simplify]: Simplify phi2 into phi2 21.666 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.666 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.666 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.666 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.666 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.667 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.667 * [backup-simplify]: Simplify (- 0) into 0 21.667 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.667 * [taylor]: Taking taylor expansion of (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 21.667 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 4)) in lambda2 21.667 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.667 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.667 * [backup-simplify]: Simplify 0 into 0 21.667 * [backup-simplify]: Simplify 1 into 1 21.667 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 4) in lambda2 21.667 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.667 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.667 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.667 * [backup-simplify]: Simplify 0.5 into 0.5 21.668 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.668 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.668 * [backup-simplify]: Simplify phi1 into phi1 21.668 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.668 * [backup-simplify]: Simplify phi2 into phi2 21.668 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.668 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.668 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.668 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.668 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.668 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.669 * [backup-simplify]: Simplify (- 0) into 0 21.669 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.669 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 21.669 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 21.669 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.669 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.669 * [backup-simplify]: Simplify phi2 into phi2 21.669 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 21.669 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.669 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.669 * [backup-simplify]: Simplify phi1 into phi1 21.669 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 21.669 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.669 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.669 * [backup-simplify]: Simplify 0 into 0 21.669 * [backup-simplify]: Simplify 1 into 1 21.669 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.669 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.669 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.669 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.669 * [backup-simplify]: Simplify 0.5 into 0.5 21.669 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.669 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.669 * [backup-simplify]: Simplify phi1 into phi1 21.669 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.669 * [backup-simplify]: Simplify phi2 into phi2 21.669 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.669 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.669 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.670 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.670 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.670 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.674 * [backup-simplify]: Simplify (- 0) into 0 21.674 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.674 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 21.674 * [taylor]: Taking taylor expansion of 2 in lambda2 21.674 * [backup-simplify]: Simplify 2 into 2 21.674 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.674 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.674 * [backup-simplify]: Simplify phi1 into phi1 21.674 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.674 * [backup-simplify]: Simplify phi2 into phi2 21.675 * [backup-simplify]: Simplify (* 1 1) into 1 21.675 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.676 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4) 21.676 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 4)) into (pow (cos (* 0.5 (+ phi1 phi2))) 4) 21.676 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.676 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.676 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 21.676 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 21.677 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.677 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 21.677 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 21.677 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 21.677 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ (pow (cos (* 0.5 (+ phi1 phi2))) 4) (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 21.678 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))))) in lambda2 21.678 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2)))) in lambda2 21.678 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) (* 2 (* phi1 phi2))) in lambda2 21.678 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)))) in lambda2 21.678 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.678 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.678 * [backup-simplify]: Simplify phi2 into phi2 21.678 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in lambda2 21.678 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.678 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.678 * [backup-simplify]: Simplify phi1 into phi1 21.678 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in lambda2 21.678 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.678 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.678 * [backup-simplify]: Simplify 0 into 0 21.678 * [backup-simplify]: Simplify 1 into 1 21.678 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in lambda2 21.678 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in lambda2 21.678 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in lambda2 21.678 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.678 * [backup-simplify]: Simplify 0.5 into 0.5 21.678 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in lambda2 21.678 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.678 * [backup-simplify]: Simplify phi1 into phi1 21.678 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.678 * [backup-simplify]: Simplify phi2 into phi2 21.678 * [backup-simplify]: Simplify (+ phi1 phi2) into (+ phi1 phi2) 21.678 * [backup-simplify]: Simplify (* 0.5 (+ phi1 phi2)) into (* 0.5 (+ phi1 phi2)) 21.678 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi1 phi2))) into (cos (* 0.5 (+ phi1 phi2))) 21.679 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi1 phi2))) into (sin (* 0.5 (+ phi1 phi2))) 21.679 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) 1) into (cos (* 0.5 (+ phi1 phi2))) 21.679 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi1 phi2))) 0) into 0 21.679 * [backup-simplify]: Simplify (- 0) into 0 21.679 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi1 phi2))) 0) into (cos (* 0.5 (+ phi1 phi2))) 21.679 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in lambda2 21.680 * [taylor]: Taking taylor expansion of 2 in lambda2 21.680 * [backup-simplify]: Simplify 2 into 2 21.680 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.680 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.680 * [backup-simplify]: Simplify phi1 into phi1 21.680 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.680 * [backup-simplify]: Simplify phi2 into phi2 21.680 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.680 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.680 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2) 21.680 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi2 2) (pow phi1 2)) 21.680 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.680 * [backup-simplify]: Simplify (* 2 (* phi1 phi2)) into (* 2 (* phi1 phi2)) 21.680 * [backup-simplify]: Simplify (- (* 2 (* phi1 phi2))) into (- (* 2 (* phi1 phi2))) 21.681 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi1 phi2)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) 21.681 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) 21.681 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) 21.682 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.682 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.682 * [backup-simplify]: Simplify (+ 0 0) into 0 21.682 * [backup-simplify]: Simplify (+ 0 0) into 0 21.683 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.683 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi1 phi2))) into 0 21.683 * [backup-simplify]: Simplify (- 0) into 0 21.684 * [backup-simplify]: Simplify (+ 0 0) into 0 21.685 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 21.685 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into 0 21.686 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.686 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.686 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 21.687 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.687 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 21.687 * [taylor]: Taking taylor expansion of 1/2 in phi1 21.687 * [backup-simplify]: Simplify 1/2 into 1/2 21.687 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 21.687 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 21.687 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 21.687 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 21.687 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 21.687 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.687 * [taylor]: Taking taylor expansion of phi2 in phi1 21.687 * [backup-simplify]: Simplify phi2 into phi2 21.687 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.688 * [taylor]: Taking taylor expansion of phi1 in phi1 21.688 * [backup-simplify]: Simplify 0 into 0 21.688 * [backup-simplify]: Simplify 1 into 1 21.688 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 21.688 * [taylor]: Taking taylor expansion of 2 in phi1 21.688 * [backup-simplify]: Simplify 2 into 2 21.688 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.688 * [taylor]: Taking taylor expansion of phi1 in phi1 21.688 * [backup-simplify]: Simplify 0 into 0 21.688 * [backup-simplify]: Simplify 1 into 1 21.688 * [taylor]: Taking taylor expansion of phi2 in phi1 21.688 * [backup-simplify]: Simplify phi2 into phi2 21.688 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.688 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.688 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.689 * [backup-simplify]: Simplify (* 2 0) into 0 21.689 * [backup-simplify]: Simplify (- 0) into 0 21.690 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.690 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.690 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 21.690 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.691 * [backup-simplify]: Simplify (+ 0 0) into 0 21.691 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.691 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 21.692 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 21.692 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 21.692 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 21.692 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 21.692 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 21.692 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 21.693 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 21.693 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.693 * [backup-simplify]: Simplify 0.5 into 0.5 21.693 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 21.693 * [taylor]: Taking taylor expansion of phi1 in phi1 21.693 * [backup-simplify]: Simplify 0 into 0 21.693 * [backup-simplify]: Simplify 1 into 1 21.693 * [taylor]: Taking taylor expansion of phi2 in phi1 21.693 * [backup-simplify]: Simplify phi2 into phi2 21.693 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 21.693 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 21.693 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 21.693 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 21.693 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 21.693 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 21.694 * [backup-simplify]: Simplify (- 0) into 0 21.694 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 21.694 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 21.694 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 21.695 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 21.695 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 21.695 * [taylor]: Taking taylor expansion of 1/2 in phi2 21.695 * [backup-simplify]: Simplify 1/2 into 1/2 21.695 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 21.695 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 21.695 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 21.695 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 21.695 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.695 * [backup-simplify]: Simplify 0.5 into 0.5 21.695 * [taylor]: Taking taylor expansion of phi2 in phi2 21.695 * [backup-simplify]: Simplify 0 into 0 21.695 * [backup-simplify]: Simplify 1 into 1 21.695 * [backup-simplify]: Simplify (* 0.5 0) into 0 21.697 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 21.697 * [taylor]: Taking taylor expansion of phi2 in phi2 21.697 * [backup-simplify]: Simplify 0 into 0 21.697 * [backup-simplify]: Simplify 1 into 1 21.697 * [backup-simplify]: Simplify (* 1 1) into 1 21.698 * [backup-simplify]: Simplify (/ 1 1) into 1 21.698 * [backup-simplify]: Simplify (+ 0) into 0 21.699 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.700 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 21.701 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 21.701 * [backup-simplify]: Simplify 0 into 0 21.702 * [backup-simplify]: Simplify (+ 0) into 0 21.702 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 1)) into 0 21.703 * [backup-simplify]: Simplify (+ 0 0) into 0 21.704 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi1 phi2))) into 0 21.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.705 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi1 phi2))) 0) (* 0 0)) into 0 21.706 * [backup-simplify]: Simplify (- 0) into 0 21.706 * [backup-simplify]: Simplify (+ 0 0) into 0 21.706 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi1 phi2))) 0) (* 0 (cos (* 0.5 (+ phi1 phi2))))) into 0 21.707 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.708 * [backup-simplify]: Simplify (+ (* 0 0) (* (pow (cos (* 0.5 (+ phi1 phi2))) 2) (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))))) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) 21.709 * [backup-simplify]: Simplify (+ (* -1 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) (* 0 0)) into (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.709 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 21.709 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 21.710 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 21.710 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 21.710 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 21.710 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 21.710 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.710 * [taylor]: Taking taylor expansion of phi2 in phi1 21.710 * [backup-simplify]: Simplify phi2 into phi2 21.710 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.710 * [taylor]: Taking taylor expansion of phi1 in phi1 21.710 * [backup-simplify]: Simplify 0 into 0 21.710 * [backup-simplify]: Simplify 1 into 1 21.710 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 21.710 * [taylor]: Taking taylor expansion of 2 in phi1 21.710 * [backup-simplify]: Simplify 2 into 2 21.710 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.710 * [taylor]: Taking taylor expansion of phi1 in phi1 21.710 * [backup-simplify]: Simplify 0 into 0 21.710 * [backup-simplify]: Simplify 1 into 1 21.710 * [taylor]: Taking taylor expansion of phi2 in phi1 21.710 * [backup-simplify]: Simplify phi2 into phi2 21.710 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.710 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.710 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.711 * [backup-simplify]: Simplify (* 2 0) into 0 21.711 * [backup-simplify]: Simplify (- 0) into 0 21.711 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.712 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.712 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 21.712 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.712 * [backup-simplify]: Simplify (+ 0 0) into 0 21.713 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.713 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 21.713 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 21.713 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 21.714 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 21.714 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 21.714 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 21.714 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 21.714 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 21.714 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.714 * [backup-simplify]: Simplify 0.5 into 0.5 21.714 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 21.714 * [taylor]: Taking taylor expansion of phi1 in phi1 21.714 * [backup-simplify]: Simplify 0 into 0 21.714 * [backup-simplify]: Simplify 1 into 1 21.714 * [taylor]: Taking taylor expansion of phi2 in phi1 21.714 * [backup-simplify]: Simplify phi2 into phi2 21.715 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 21.715 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 21.715 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 21.715 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 21.715 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 21.715 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 21.716 * [backup-simplify]: Simplify (- 0) into 0 21.716 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 21.716 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 21.716 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 21.716 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 21.717 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 21.717 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 21.717 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 21.717 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 21.717 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 21.717 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.717 * [backup-simplify]: Simplify 0.5 into 0.5 21.717 * [taylor]: Taking taylor expansion of phi2 in phi2 21.717 * [backup-simplify]: Simplify 0 into 0 21.717 * [backup-simplify]: Simplify 1 into 1 21.717 * [backup-simplify]: Simplify (* 0.5 0) into 0 21.719 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 21.719 * [taylor]: Taking taylor expansion of phi2 in phi2 21.719 * [backup-simplify]: Simplify 0 into 0 21.719 * [backup-simplify]: Simplify 1 into 1 21.720 * [backup-simplify]: Simplify (* 1 1) into 1 21.720 * [backup-simplify]: Simplify (/ 1 1) into 1 21.720 * [backup-simplify]: Simplify (+ 0) into 0 21.721 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.722 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 21.722 * [backup-simplify]: Simplify (- 0) into 0 21.722 * [backup-simplify]: Simplify 0 into 0 21.723 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 21.724 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0 21.724 * [backup-simplify]: Simplify (* 1 1) into 1 21.724 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2)))) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.724 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.725 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.725 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi1 phi2))) 2)) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.726 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi2))) into 0 21.726 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi1 phi2)))) into 0 21.727 * [backup-simplify]: Simplify (- 0) into 0 21.727 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi1 phi2))) 2) 0) into (pow (cos (* 0.5 (+ phi1 phi2))) 2) 21.729 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi1 phi2))) 2) (pow 0 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) 21.729 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2))) in phi1 21.729 * [taylor]: Taking taylor expansion of 1/2 in phi1 21.729 * [backup-simplify]: Simplify 1/2 into 1/2 21.729 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) (pow (cos (* 0.5 (+ phi1 phi2))) 2)) in phi1 21.729 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))))) in phi1 21.729 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2)))) in phi1 21.729 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi1 phi2))) in phi1 21.729 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1 21.729 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.729 * [taylor]: Taking taylor expansion of phi2 in phi1 21.729 * [backup-simplify]: Simplify phi2 into phi2 21.729 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.729 * [taylor]: Taking taylor expansion of phi1 in phi1 21.729 * [backup-simplify]: Simplify 0 into 0 21.729 * [backup-simplify]: Simplify 1 into 1 21.729 * [taylor]: Taking taylor expansion of (* 2 (* phi1 phi2)) in phi1 21.729 * [taylor]: Taking taylor expansion of 2 in phi1 21.729 * [backup-simplify]: Simplify 2 into 2 21.729 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.729 * [taylor]: Taking taylor expansion of phi1 in phi1 21.729 * [backup-simplify]: Simplify 0 into 0 21.729 * [backup-simplify]: Simplify 1 into 1 21.729 * [taylor]: Taking taylor expansion of phi2 in phi1 21.729 * [backup-simplify]: Simplify phi2 into phi2 21.730 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.730 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.730 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.730 * [backup-simplify]: Simplify (* 2 0) into 0 21.731 * [backup-simplify]: Simplify (- 0) into 0 21.731 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2) 21.731 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.731 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2) 21.732 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.732 * [backup-simplify]: Simplify (+ 0 0) into 0 21.733 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.733 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2) 21.733 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2)) 21.733 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2)) 21.734 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3))) 21.734 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2)) 21.734 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi1 phi2))) 2) in phi1 21.734 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 21.734 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 21.734 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.734 * [backup-simplify]: Simplify 0.5 into 0.5 21.734 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 21.735 * [taylor]: Taking taylor expansion of phi1 in phi1 21.735 * [backup-simplify]: Simplify 0 into 0 21.735 * [backup-simplify]: Simplify 1 into 1 21.735 * [taylor]: Taking taylor expansion of phi2 in phi1 21.735 * [backup-simplify]: Simplify phi2 into phi2 21.735 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 21.735 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 21.735 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 21.735 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 21.735 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 21.735 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 21.737 * [backup-simplify]: Simplify (- 0) into 0 21.737 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 21.737 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2) 21.738 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2) 21.738 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) 21.738 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2 21.738 * [taylor]: Taking taylor expansion of 1/2 in phi2 21.738 * [backup-simplify]: Simplify 1/2 into 1/2 21.738 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2 21.738 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2 21.738 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 21.738 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 21.738 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.738 * [backup-simplify]: Simplify 0.5 into 0.5 21.738 * [taylor]: Taking taylor expansion of phi2 in phi2 21.738 * [backup-simplify]: Simplify 0 into 0 21.738 * [backup-simplify]: Simplify 1 into 1 21.739 * [backup-simplify]: Simplify (* 0.5 0) into 0 21.741 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 21.741 * [taylor]: Taking taylor expansion of phi2 in phi2 21.741 * [backup-simplify]: Simplify 0 into 0 21.741 * [backup-simplify]: Simplify 1 into 1 21.741 * [backup-simplify]: Simplify (* 1 1) into 1 21.742 * [backup-simplify]: Simplify (/ 1 1) into 1 21.742 * [backup-simplify]: Simplify (+ 0) into 0 21.743 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.744 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0 21.744 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0 21.744 * [backup-simplify]: Simplify 0 into 0 21.744 * [taylor]: Taking taylor expansion of 0 in phi2 21.744 * [backup-simplify]: Simplify 0 into 0 21.745 * [backup-simplify]: Simplify 0 into 0 21.745 * [taylor]: Taking taylor expansion of 0 in phi2 21.745 * [backup-simplify]: Simplify 0 into 0 21.745 * [backup-simplify]: Simplify 0 into 0 21.745 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0 21.746 * [backup-simplify]: Simplify (* 1 1) into 1 21.746 * [backup-simplify]: Simplify (+ 0 1) into 1 21.747 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi2))) into 0 21.748 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0 21.748 * [backup-simplify]: Simplify (- 0) into 0 21.748 * [backup-simplify]: Simplify (+ 1 0) into 1 21.750 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0 21.750 * [taylor]: Taking taylor expansion of 0 in phi2 21.750 * [backup-simplify]: Simplify 0 into 0 21.750 * [backup-simplify]: Simplify 0 into 0 21.751 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1) 21.752 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) 21.752 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in (lambda1 lambda2 phi1 phi2) around 0 21.753 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in phi2 21.753 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in phi2 21.753 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in phi2 21.753 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 21.753 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.753 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.753 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.753 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.753 * [backup-simplify]: Simplify 0.5 into 0.5 21.753 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.753 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.753 * [taylor]: Taking taylor expansion of phi1 in phi2 21.753 * [backup-simplify]: Simplify phi1 into phi1 21.753 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.753 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.753 * [taylor]: Taking taylor expansion of phi2 in phi2 21.753 * [backup-simplify]: Simplify 0 into 0 21.753 * [backup-simplify]: Simplify 1 into 1 21.754 * [backup-simplify]: Simplify (/ 1 1) into 1 21.754 * [backup-simplify]: Simplify (+ 0 1) into 1 21.755 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.755 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.755 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 21.755 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.755 * [backup-simplify]: Simplify lambda1 into lambda1 21.755 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.755 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.755 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.755 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in phi2 21.755 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 21.755 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.755 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.755 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.755 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.755 * [backup-simplify]: Simplify 0.5 into 0.5 21.755 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.755 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.756 * [taylor]: Taking taylor expansion of phi1 in phi2 21.756 * [backup-simplify]: Simplify phi1 into phi1 21.756 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.756 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.756 * [taylor]: Taking taylor expansion of phi2 in phi2 21.756 * [backup-simplify]: Simplify 0 into 0 21.756 * [backup-simplify]: Simplify 1 into 1 21.756 * [backup-simplify]: Simplify (/ 1 1) into 1 21.756 * [backup-simplify]: Simplify (+ 0 1) into 1 21.756 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.757 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.757 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 21.757 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.757 * [backup-simplify]: Simplify lambda2 into lambda2 21.757 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.757 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.757 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.757 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in phi2 21.757 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 21.757 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 21.757 * [taylor]: Taking taylor expansion of phi1 in phi2 21.757 * [backup-simplify]: Simplify phi1 into phi1 21.757 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.757 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.757 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 21.757 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 21.757 * [taylor]: Taking taylor expansion of phi2 in phi2 21.757 * [backup-simplify]: Simplify 0 into 0 21.757 * [backup-simplify]: Simplify 1 into 1 21.758 * [backup-simplify]: Simplify (* 1 1) into 1 21.758 * [backup-simplify]: Simplify (/ 1 1) into 1 21.758 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in phi2 21.758 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2 21.758 * [taylor]: Taking taylor expansion of 2 in phi2 21.758 * [backup-simplify]: Simplify 2 into 2 21.758 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2 21.758 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 21.758 * [taylor]: Taking taylor expansion of phi1 in phi2 21.758 * [backup-simplify]: Simplify phi1 into phi1 21.758 * [taylor]: Taking taylor expansion of phi2 in phi2 21.758 * [backup-simplify]: Simplify 0 into 0 21.758 * [backup-simplify]: Simplify 1 into 1 21.758 * [backup-simplify]: Simplify (* phi1 0) into 0 21.758 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 21.758 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.758 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in phi2 21.758 * [taylor]: Taking taylor expansion of 2 in phi2 21.758 * [backup-simplify]: Simplify 2 into 2 21.758 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in phi2 21.758 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.758 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.758 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.758 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.759 * [backup-simplify]: Simplify 0.5 into 0.5 21.759 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.759 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.759 * [taylor]: Taking taylor expansion of phi1 in phi2 21.759 * [backup-simplify]: Simplify phi1 into phi1 21.759 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.759 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.759 * [taylor]: Taking taylor expansion of phi2 in phi2 21.759 * [backup-simplify]: Simplify 0 into 0 21.759 * [backup-simplify]: Simplify 1 into 1 21.759 * [backup-simplify]: Simplify (/ 1 1) into 1 21.759 * [backup-simplify]: Simplify (+ 0 1) into 1 21.759 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.760 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.760 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in phi2 21.760 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.760 * [backup-simplify]: Simplify lambda1 into lambda1 21.760 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.760 * [backup-simplify]: Simplify lambda2 into lambda2 21.760 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.760 * [backup-simplify]: Simplify (* lambda1 lambda2) into (* lambda2 lambda1) 21.760 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) 21.760 * [backup-simplify]: Simplify (+ 0 1) into 1 21.761 * [backup-simplify]: Simplify (+ 0 1) into 1 21.761 * [backup-simplify]: Simplify (+ 0 1) into 1 21.761 * [backup-simplify]: Simplify (+ 1 0) into 1 21.761 * [backup-simplify]: Simplify (sqrt 1) into 1 21.762 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.762 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.763 * [backup-simplify]: Simplify (+ 0 0) into 0 21.763 * [backup-simplify]: Simplify (+ 0 0) into 0 21.763 * [backup-simplify]: Simplify (+ 0 0) into 0 21.763 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 21.763 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 21.763 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 21.763 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 21.764 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 21.764 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in phi1 21.764 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in phi1 21.764 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in phi1 21.764 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 21.764 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.764 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.764 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.764 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.764 * [backup-simplify]: Simplify 0.5 into 0.5 21.764 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.764 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.764 * [taylor]: Taking taylor expansion of phi1 in phi1 21.764 * [backup-simplify]: Simplify 0 into 0 21.764 * [backup-simplify]: Simplify 1 into 1 21.764 * [backup-simplify]: Simplify (/ 1 1) into 1 21.764 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.764 * [taylor]: Taking taylor expansion of phi2 in phi1 21.764 * [backup-simplify]: Simplify phi2 into phi2 21.764 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.765 * [backup-simplify]: Simplify (+ 1 0) into 1 21.765 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.765 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.765 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 21.765 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.765 * [backup-simplify]: Simplify lambda1 into lambda1 21.765 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.765 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.766 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.766 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in phi1 21.766 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 21.766 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.766 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.766 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.766 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.766 * [backup-simplify]: Simplify 0.5 into 0.5 21.766 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.766 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.766 * [taylor]: Taking taylor expansion of phi1 in phi1 21.766 * [backup-simplify]: Simplify 0 into 0 21.766 * [backup-simplify]: Simplify 1 into 1 21.766 * [backup-simplify]: Simplify (/ 1 1) into 1 21.766 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.766 * [taylor]: Taking taylor expansion of phi2 in phi1 21.766 * [backup-simplify]: Simplify phi2 into phi2 21.766 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.766 * [backup-simplify]: Simplify (+ 1 0) into 1 21.767 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.767 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.767 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 21.767 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.767 * [backup-simplify]: Simplify lambda2 into lambda2 21.767 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.767 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.767 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.767 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in phi1 21.767 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 21.767 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.767 * [taylor]: Taking taylor expansion of phi1 in phi1 21.767 * [backup-simplify]: Simplify 0 into 0 21.767 * [backup-simplify]: Simplify 1 into 1 21.768 * [backup-simplify]: Simplify (* 1 1) into 1 21.768 * [backup-simplify]: Simplify (/ 1 1) into 1 21.768 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 21.768 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.768 * [taylor]: Taking taylor expansion of phi2 in phi1 21.768 * [backup-simplify]: Simplify phi2 into phi2 21.768 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.768 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.768 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in phi1 21.768 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 21.768 * [taylor]: Taking taylor expansion of 2 in phi1 21.768 * [backup-simplify]: Simplify 2 into 2 21.768 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 21.768 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.768 * [taylor]: Taking taylor expansion of phi1 in phi1 21.768 * [backup-simplify]: Simplify 0 into 0 21.768 * [backup-simplify]: Simplify 1 into 1 21.768 * [taylor]: Taking taylor expansion of phi2 in phi1 21.768 * [backup-simplify]: Simplify phi2 into phi2 21.768 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.769 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.769 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.769 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in phi1 21.769 * [taylor]: Taking taylor expansion of 2 in phi1 21.769 * [backup-simplify]: Simplify 2 into 2 21.769 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in phi1 21.769 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.769 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.769 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.769 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.769 * [backup-simplify]: Simplify 0.5 into 0.5 21.769 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.769 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.769 * [taylor]: Taking taylor expansion of phi1 in phi1 21.769 * [backup-simplify]: Simplify 0 into 0 21.769 * [backup-simplify]: Simplify 1 into 1 21.769 * [backup-simplify]: Simplify (/ 1 1) into 1 21.769 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.769 * [taylor]: Taking taylor expansion of phi2 in phi1 21.769 * [backup-simplify]: Simplify phi2 into phi2 21.769 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.769 * [backup-simplify]: Simplify (+ 1 0) into 1 21.770 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.770 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.770 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in phi1 21.770 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.770 * [backup-simplify]: Simplify lambda1 into lambda1 21.770 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.770 * [backup-simplify]: Simplify lambda2 into lambda2 21.770 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.770 * [backup-simplify]: Simplify (* lambda1 lambda2) into (* lambda2 lambda1) 21.770 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) 21.771 * [backup-simplify]: Simplify (+ 1 0) into 1 21.771 * [backup-simplify]: Simplify (+ 0 1) into 1 21.771 * [backup-simplify]: Simplify (+ 0 1) into 1 21.771 * [backup-simplify]: Simplify (+ 1 0) into 1 21.772 * [backup-simplify]: Simplify (sqrt 1) into 1 21.772 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.773 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.773 * [backup-simplify]: Simplify (+ 0 0) into 0 21.773 * [backup-simplify]: Simplify (+ 0 0) into 0 21.773 * [backup-simplify]: Simplify (+ 0 0) into 0 21.773 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 21.773 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 21.773 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 21.774 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 21.774 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 21.774 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda2 21.774 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda2 21.774 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda2 21.774 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 21.774 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.774 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.774 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.774 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.774 * [backup-simplify]: Simplify 0.5 into 0.5 21.774 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.774 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.774 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.774 * [backup-simplify]: Simplify phi1 into phi1 21.774 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.774 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.774 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.774 * [backup-simplify]: Simplify phi2 into phi2 21.774 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.774 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.774 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.775 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.775 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.775 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.775 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.775 * [backup-simplify]: Simplify (- 0) into 0 21.775 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.775 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 21.775 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.775 * [backup-simplify]: Simplify lambda1 into lambda1 21.775 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.776 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.776 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.776 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda2 21.776 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 21.776 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.776 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.776 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.776 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.776 * [backup-simplify]: Simplify 0.5 into 0.5 21.776 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.776 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.776 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.776 * [backup-simplify]: Simplify phi1 into phi1 21.776 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.776 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.776 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.776 * [backup-simplify]: Simplify phi2 into phi2 21.776 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.776 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.776 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.776 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.776 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.776 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.777 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.777 * [backup-simplify]: Simplify (- 0) into 0 21.777 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.777 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.777 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.777 * [backup-simplify]: Simplify 0 into 0 21.777 * [backup-simplify]: Simplify 1 into 1 21.777 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.778 * [backup-simplify]: Simplify (* 1 1) into 1 21.778 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.778 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2 21.778 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 21.778 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.778 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.778 * [backup-simplify]: Simplify phi1 into phi1 21.778 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.778 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.778 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 21.778 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.778 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.778 * [backup-simplify]: Simplify phi2 into phi2 21.778 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.778 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.778 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda2 21.778 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 21.778 * [taylor]: Taking taylor expansion of 2 in lambda2 21.778 * [backup-simplify]: Simplify 2 into 2 21.778 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 21.778 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.778 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.778 * [backup-simplify]: Simplify phi1 into phi1 21.778 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.778 * [backup-simplify]: Simplify phi2 into phi2 21.778 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.778 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.778 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda2 21.778 * [taylor]: Taking taylor expansion of 2 in lambda2 21.778 * [backup-simplify]: Simplify 2 into 2 21.778 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda2 21.778 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.778 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.779 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.779 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.779 * [backup-simplify]: Simplify 0.5 into 0.5 21.779 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.779 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.779 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.779 * [backup-simplify]: Simplify phi1 into phi1 21.779 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.779 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.779 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.779 * [backup-simplify]: Simplify phi2 into phi2 21.779 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.779 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.779 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.779 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.779 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.779 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.779 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.780 * [backup-simplify]: Simplify (- 0) into 0 21.780 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.780 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda2 21.780 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.780 * [backup-simplify]: Simplify lambda1 into lambda1 21.780 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.780 * [backup-simplify]: Simplify 0 into 0 21.780 * [backup-simplify]: Simplify 1 into 1 21.780 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.780 * [backup-simplify]: Simplify (* lambda1 0) into 0 21.780 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1 21.780 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 21.781 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.781 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.781 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.781 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.781 * [backup-simplify]: Simplify (+ 0) into 0 21.782 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.782 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.782 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.782 * [backup-simplify]: Simplify (+ 0 0) into 0 21.783 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.783 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.784 * [backup-simplify]: Simplify (- 0) into 0 21.784 * [backup-simplify]: Simplify (+ 0 0) into 0 21.784 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.785 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.785 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 21.785 * [backup-simplify]: Simplify (+ 0 0) into 0 21.786 * [backup-simplify]: Simplify (+ 0 0) into 0 21.786 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 21.786 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 21.786 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 21.787 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 21.787 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 21.787 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda1 21.787 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda1 21.787 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda1 21.787 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 21.787 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.787 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.787 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.787 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.787 * [backup-simplify]: Simplify 0.5 into 0.5 21.787 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.787 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.787 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.787 * [backup-simplify]: Simplify phi1 into phi1 21.788 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.788 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.788 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.788 * [backup-simplify]: Simplify phi2 into phi2 21.788 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.788 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.788 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.788 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.788 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.788 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.788 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.788 * [backup-simplify]: Simplify (- 0) into 0 21.789 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.789 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 21.789 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.789 * [backup-simplify]: Simplify 0 into 0 21.789 * [backup-simplify]: Simplify 1 into 1 21.789 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.789 * [backup-simplify]: Simplify (* 1 1) into 1 21.789 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.789 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda1 21.789 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 21.789 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.789 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.789 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.789 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.789 * [backup-simplify]: Simplify 0.5 into 0.5 21.789 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.789 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.789 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.789 * [backup-simplify]: Simplify phi1 into phi1 21.790 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.790 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.790 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.790 * [backup-simplify]: Simplify phi2 into phi2 21.790 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.790 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.790 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.790 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.790 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.790 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.790 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.790 * [backup-simplify]: Simplify (- 0) into 0 21.791 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.791 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 21.791 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.791 * [backup-simplify]: Simplify lambda2 into lambda2 21.791 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.791 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.791 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.791 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda1 21.791 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 21.791 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 21.791 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.791 * [backup-simplify]: Simplify phi1 into phi1 21.791 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.792 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.792 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 21.792 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 21.792 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.792 * [backup-simplify]: Simplify phi2 into phi2 21.792 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.792 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.792 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda1 21.792 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 21.792 * [taylor]: Taking taylor expansion of 2 in lambda1 21.792 * [backup-simplify]: Simplify 2 into 2 21.792 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 21.792 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 21.792 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.792 * [backup-simplify]: Simplify phi1 into phi1 21.792 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.792 * [backup-simplify]: Simplify phi2 into phi2 21.792 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.792 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.792 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda1 21.792 * [taylor]: Taking taylor expansion of 2 in lambda1 21.793 * [backup-simplify]: Simplify 2 into 2 21.793 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda1 21.793 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.793 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.793 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.793 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.793 * [backup-simplify]: Simplify 0.5 into 0.5 21.793 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.793 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.793 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.793 * [backup-simplify]: Simplify phi1 into phi1 21.793 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.793 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.793 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.793 * [backup-simplify]: Simplify phi2 into phi2 21.793 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.793 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.793 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.793 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.794 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.794 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.794 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.795 * [backup-simplify]: Simplify (- 0) into 0 21.795 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.795 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda1 21.795 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.795 * [backup-simplify]: Simplify 0 into 0 21.795 * [backup-simplify]: Simplify 1 into 1 21.795 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.795 * [backup-simplify]: Simplify lambda2 into lambda2 21.795 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.795 * [backup-simplify]: Simplify (* 0 lambda2) into 0 21.796 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda2)) into lambda2 21.796 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 21.797 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.797 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.797 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.798 * [backup-simplify]: Simplify (+ 0) into 0 21.798 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.798 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.799 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.799 * [backup-simplify]: Simplify (+ 0 0) into 0 21.799 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.800 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.801 * [backup-simplify]: Simplify (- 0) into 0 21.801 * [backup-simplify]: Simplify (+ 0 0) into 0 21.801 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.801 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.802 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 21.802 * [backup-simplify]: Simplify (+ 0 0) into 0 21.803 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.803 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.803 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.803 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.804 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 21.804 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))))) in lambda1 21.804 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))))) in lambda1 21.804 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) in lambda1 21.804 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 21.804 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.804 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.804 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.804 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.804 * [backup-simplify]: Simplify 0.5 into 0.5 21.804 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.804 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.804 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.804 * [backup-simplify]: Simplify phi1 into phi1 21.804 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.804 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.804 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.804 * [backup-simplify]: Simplify phi2 into phi2 21.804 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.804 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.804 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.805 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.805 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.805 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.805 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.805 * [backup-simplify]: Simplify (- 0) into 0 21.805 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.805 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 21.805 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.805 * [backup-simplify]: Simplify 0 into 0 21.805 * [backup-simplify]: Simplify 1 into 1 21.806 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.806 * [backup-simplify]: Simplify (* 1 1) into 1 21.806 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.806 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) in lambda1 21.806 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 21.806 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.806 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.806 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.806 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.806 * [backup-simplify]: Simplify 0.5 into 0.5 21.806 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.806 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.806 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.806 * [backup-simplify]: Simplify phi1 into phi1 21.806 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.806 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.806 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.806 * [backup-simplify]: Simplify phi2 into phi2 21.806 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.806 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.806 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.807 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.807 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.807 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.807 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.807 * [backup-simplify]: Simplify (- 0) into 0 21.807 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.807 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 21.807 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.807 * [backup-simplify]: Simplify lambda2 into lambda2 21.807 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.808 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.808 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.808 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda1 21.808 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 21.808 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 21.808 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.808 * [backup-simplify]: Simplify phi1 into phi1 21.808 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.808 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.808 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 21.808 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 21.808 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.808 * [backup-simplify]: Simplify phi2 into phi2 21.808 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.808 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.808 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)))) in lambda1 21.808 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 21.808 * [taylor]: Taking taylor expansion of 2 in lambda1 21.808 * [backup-simplify]: Simplify 2 into 2 21.808 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 21.808 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 21.808 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.808 * [backup-simplify]: Simplify phi1 into phi1 21.808 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.808 * [backup-simplify]: Simplify phi2 into phi2 21.808 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.808 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.808 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2))) in lambda1 21.808 * [taylor]: Taking taylor expansion of 2 in lambda1 21.808 * [backup-simplify]: Simplify 2 into 2 21.808 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 lambda2)) in lambda1 21.808 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.809 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.809 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.809 * [taylor]: Taking taylor expansion of 0.5 in lambda1 21.809 * [backup-simplify]: Simplify 0.5 into 0.5 21.809 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.809 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.809 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.809 * [backup-simplify]: Simplify phi1 into phi1 21.809 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.809 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.809 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.809 * [backup-simplify]: Simplify phi2 into phi2 21.809 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.809 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.809 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.809 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.809 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.809 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.809 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.810 * [backup-simplify]: Simplify (- 0) into 0 21.810 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.810 * [taylor]: Taking taylor expansion of (* lambda1 lambda2) in lambda1 21.810 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.810 * [backup-simplify]: Simplify 0 into 0 21.810 * [backup-simplify]: Simplify 1 into 1 21.810 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.810 * [backup-simplify]: Simplify lambda2 into lambda2 21.810 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.810 * [backup-simplify]: Simplify (* 0 lambda2) into 0 21.810 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda2)) into lambda2 21.811 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 21.811 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.811 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.811 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.811 * [backup-simplify]: Simplify (+ 0) into 0 21.812 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.812 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.812 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.812 * [backup-simplify]: Simplify (+ 0 0) into 0 21.812 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.813 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.813 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.814 * [backup-simplify]: Simplify (- 0) into 0 21.814 * [backup-simplify]: Simplify (+ 0 0) into 0 21.814 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.814 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.819 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 21.819 * [backup-simplify]: Simplify (+ 0 0) into 0 21.819 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.819 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 21.820 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.820 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 21.820 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 21.820 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.820 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.820 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.821 * [backup-simplify]: Simplify 0.5 into 0.5 21.821 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.821 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.821 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.821 * [backup-simplify]: Simplify phi1 into phi1 21.821 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.821 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.821 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.821 * [backup-simplify]: Simplify phi2 into phi2 21.821 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.821 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.821 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.821 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.821 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.821 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 21.821 * [taylor]: Taking taylor expansion of -1 in lambda2 21.821 * [backup-simplify]: Simplify -1 into -1 21.821 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 21.821 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.821 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.821 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.821 * [backup-simplify]: Simplify 0.5 into 0.5 21.821 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.821 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.821 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.821 * [backup-simplify]: Simplify phi1 into phi1 21.821 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.821 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.821 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.821 * [backup-simplify]: Simplify phi2 into phi2 21.821 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.821 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.821 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.822 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.822 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.822 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.822 * [backup-simplify]: Simplify 0 into 0 21.822 * [backup-simplify]: Simplify 1 into 1 21.822 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.822 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.822 * [backup-simplify]: Simplify (- 0) into 0 21.822 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.823 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.823 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.823 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 21.823 * [taylor]: Taking taylor expansion of -1 in phi1 21.823 * [backup-simplify]: Simplify -1 into -1 21.823 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.823 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.823 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.823 * [backup-simplify]: Simplify 0.5 into 0.5 21.823 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.823 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.823 * [taylor]: Taking taylor expansion of phi1 in phi1 21.823 * [backup-simplify]: Simplify 0 into 0 21.823 * [backup-simplify]: Simplify 1 into 1 21.823 * [backup-simplify]: Simplify (/ 1 1) into 1 21.823 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.823 * [taylor]: Taking taylor expansion of phi2 in phi1 21.823 * [backup-simplify]: Simplify phi2 into phi2 21.823 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.823 * [backup-simplify]: Simplify (+ 1 0) into 1 21.824 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.824 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.824 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.824 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.825 * [backup-simplify]: Simplify (- 0) into 0 21.825 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.825 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.825 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.825 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.825 * [backup-simplify]: Simplify 0.5 into 0.5 21.825 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.825 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.825 * [taylor]: Taking taylor expansion of phi1 in phi1 21.825 * [backup-simplify]: Simplify 0 into 0 21.825 * [backup-simplify]: Simplify 1 into 1 21.825 * [backup-simplify]: Simplify (/ 1 1) into 1 21.825 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.825 * [taylor]: Taking taylor expansion of phi2 in phi1 21.825 * [backup-simplify]: Simplify phi2 into phi2 21.825 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.826 * [backup-simplify]: Simplify (+ 1 0) into 1 21.826 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.826 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.827 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.827 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.827 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.828 * [backup-simplify]: Simplify (+ 0 0) into 0 21.829 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.830 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.830 * [backup-simplify]: Simplify (- 0) into 0 21.831 * [backup-simplify]: Simplify (+ 0 0) into 0 21.831 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 21.832 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 21.834 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 21.834 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 21.835 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) 21.835 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) 21.835 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 21.836 * [backup-simplify]: Simplify (+ 0) into 0 21.836 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.837 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.837 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.837 * [backup-simplify]: Simplify (+ 0 0) into 0 21.838 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.838 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.839 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.839 * [backup-simplify]: Simplify (- 0) into 0 21.839 * [backup-simplify]: Simplify (+ 0 0) into 0 21.840 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.840 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda2))) into 0 21.841 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 21.842 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 21.842 * [backup-simplify]: Simplify (+ (/ 2 (* phi1 phi2)) 0) into (* 2 (/ 1 (* phi1 phi2))) 21.842 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi1 phi2)))) into (- (* 2 (/ 1 (* phi1 phi2)))) 21.843 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) 21.845 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.845 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 21.845 * [taylor]: Taking taylor expansion of 1/2 in lambda2 21.845 * [backup-simplify]: Simplify 1/2 into 1/2 21.845 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 21.846 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2 21.846 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) in lambda2 21.846 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 21.846 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.846 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.846 * [backup-simplify]: Simplify phi1 into phi1 21.846 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.846 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.846 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 21.846 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.846 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.846 * [backup-simplify]: Simplify phi2 into phi2 21.846 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.846 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.846 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 21.846 * [taylor]: Taking taylor expansion of 2 in lambda2 21.846 * [backup-simplify]: Simplify 2 into 2 21.846 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 21.846 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.846 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.846 * [backup-simplify]: Simplify phi1 into phi1 21.846 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.846 * [backup-simplify]: Simplify phi2 into phi2 21.847 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.847 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.847 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.847 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.847 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.847 * [backup-simplify]: Simplify 0.5 into 0.5 21.847 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.847 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.847 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.847 * [backup-simplify]: Simplify phi1 into phi1 21.847 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.847 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.847 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.847 * [backup-simplify]: Simplify phi2 into phi2 21.847 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.847 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.847 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.847 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.848 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.848 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 21.848 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 21.848 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 21.849 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 21.849 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.849 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.850 * [backup-simplify]: Simplify (- 0) into 0 21.850 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.851 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.851 * [backup-simplify]: Simplify (+ 0) into 0 21.852 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.852 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.852 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.853 * [backup-simplify]: Simplify (+ 0 0) into 0 21.853 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.854 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.855 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.855 * [backup-simplify]: Simplify (- 0) into 0 21.856 * [backup-simplify]: Simplify (+ 0 0) into 0 21.857 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 21.858 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.858 * [taylor]: Taking taylor expansion of 0 in phi1 21.858 * [backup-simplify]: Simplify 0 into 0 21.858 * [backup-simplify]: Simplify (+ 0) into 0 21.859 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.859 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.859 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.860 * [backup-simplify]: Simplify (+ 0 0) into 0 21.860 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.861 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.862 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.862 * [backup-simplify]: Simplify (- 0) into 0 21.862 * [backup-simplify]: Simplify (+ 0 0) into 0 21.863 * [taylor]: Taking taylor expansion of 0 in phi1 21.863 * [backup-simplify]: Simplify 0 into 0 21.863 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.863 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 21.863 * [taylor]: Taking taylor expansion of -1 in phi2 21.863 * [backup-simplify]: Simplify -1 into -1 21.863 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.863 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.863 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.863 * [backup-simplify]: Simplify 0.5 into 0.5 21.863 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.863 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.863 * [taylor]: Taking taylor expansion of phi1 in phi2 21.863 * [backup-simplify]: Simplify phi1 into phi1 21.863 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.863 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.863 * [taylor]: Taking taylor expansion of phi2 in phi2 21.863 * [backup-simplify]: Simplify 0 into 0 21.863 * [backup-simplify]: Simplify 1 into 1 21.864 * [backup-simplify]: Simplify (/ 1 1) into 1 21.864 * [backup-simplify]: Simplify (+ 0 1) into 1 21.865 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.865 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.865 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.865 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.865 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.865 * [backup-simplify]: Simplify 0.5 into 0.5 21.865 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.865 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.865 * [taylor]: Taking taylor expansion of phi1 in phi2 21.865 * [backup-simplify]: Simplify phi1 into phi1 21.865 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.865 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.865 * [taylor]: Taking taylor expansion of phi2 in phi2 21.865 * [backup-simplify]: Simplify 0 into 0 21.865 * [backup-simplify]: Simplify 1 into 1 21.866 * [backup-simplify]: Simplify (/ 1 1) into 1 21.866 * [backup-simplify]: Simplify (+ 0 1) into 1 21.867 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.867 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.868 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 21.869 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 21.869 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.869 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.870 * [backup-simplify]: Simplify (+ 0 0) into 0 21.871 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.873 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 21.874 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 21.875 * [backup-simplify]: Simplify (- 0) into 0 21.875 * [backup-simplify]: Simplify (+ 0 0) into 0 21.876 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 21.878 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 21.880 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 21.881 * [backup-simplify]: Simplify (+ 0) into 0 21.882 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.882 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.882 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.882 * [backup-simplify]: Simplify (+ 0 0) into 0 21.883 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.884 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.885 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.885 * [backup-simplify]: Simplify (- 0) into 0 21.885 * [backup-simplify]: Simplify (+ 0 0) into 0 21.886 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.886 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 21.887 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 21.887 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.887 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 21.887 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.888 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 21.889 * [backup-simplify]: Simplify (+ 0 0) into 0 21.889 * [backup-simplify]: Simplify (+ 0 0) into 0 21.890 * [backup-simplify]: Simplify (+ 0 0) into 0 21.890 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.890 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi1 phi2)) (/ 0 (* phi1 phi2))))) into 0 21.891 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi1 phi2)))) into 0 21.892 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.893 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.893 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.893 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.894 * [backup-simplify]: Simplify (+ 0 0) into 0 21.895 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.896 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.896 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.897 * [backup-simplify]: Simplify (- 0) into 0 21.897 * [backup-simplify]: Simplify (+ 0 0) into 0 21.898 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 21.899 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda2)))) into 0 21.899 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 21.901 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 21.901 * [backup-simplify]: Simplify (+ 0 0) into 0 21.902 * [backup-simplify]: Simplify (- 0) into 0 21.902 * [backup-simplify]: Simplify (+ 0 0) into 0 21.904 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.904 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 21.904 * [taylor]: Taking taylor expansion of 1/2 in lambda2 21.904 * [backup-simplify]: Simplify 1/2 into 1/2 21.904 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 21.904 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2 21.904 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2 21.904 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2 21.904 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2 21.904 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.904 * [backup-simplify]: Simplify 0 into 0 21.904 * [backup-simplify]: Simplify 1 into 1 21.904 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.904 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.904 * [backup-simplify]: Simplify phi2 into phi2 21.904 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.904 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0 21.904 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 21.905 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2) 21.905 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.905 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 21.905 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 21.905 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.905 * [backup-simplify]: Simplify 0 into 0 21.905 * [backup-simplify]: Simplify 1 into 1 21.905 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.905 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.906 * [backup-simplify]: Simplify phi1 into phi1 21.906 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.906 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 21.906 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 21.906 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 21.907 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.907 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2 21.907 * [taylor]: Taking taylor expansion of 2 in lambda2 21.907 * [backup-simplify]: Simplify 2 into 2 21.907 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2 21.907 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2 21.907 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.907 * [backup-simplify]: Simplify 0 into 0 21.907 * [backup-simplify]: Simplify 1 into 1 21.907 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.907 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.907 * [backup-simplify]: Simplify phi1 into phi1 21.907 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.907 * [backup-simplify]: Simplify phi2 into phi2 21.907 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.907 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0 21.907 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 21.908 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2) 21.908 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.908 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.908 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.908 * [taylor]: Taking taylor expansion of 0.5 in lambda2 21.908 * [backup-simplify]: Simplify 0.5 into 0.5 21.908 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.908 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.908 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.908 * [backup-simplify]: Simplify phi1 into phi1 21.908 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.908 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.908 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.908 * [backup-simplify]: Simplify phi2 into phi2 21.908 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.909 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.909 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.909 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.910 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.910 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 21.911 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 21.911 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 21.911 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 21.911 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.912 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.912 * [backup-simplify]: Simplify (- 0) into 0 21.913 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.913 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.914 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.914 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 21.914 * [taylor]: Taking taylor expansion of 1/2 in phi1 21.914 * [backup-simplify]: Simplify 1/2 into 1/2 21.914 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 21.914 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 21.914 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 21.914 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 21.914 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.915 * [taylor]: Taking taylor expansion of phi2 in phi1 21.915 * [backup-simplify]: Simplify phi2 into phi2 21.915 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.915 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.915 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 21.915 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.915 * [taylor]: Taking taylor expansion of phi1 in phi1 21.915 * [backup-simplify]: Simplify 0 into 0 21.915 * [backup-simplify]: Simplify 1 into 1 21.916 * [backup-simplify]: Simplify (* 1 1) into 1 21.916 * [backup-simplify]: Simplify (/ 1 1) into 1 21.916 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 21.916 * [taylor]: Taking taylor expansion of 2 in phi1 21.916 * [backup-simplify]: Simplify 2 into 2 21.916 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 21.916 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.916 * [taylor]: Taking taylor expansion of phi1 in phi1 21.916 * [backup-simplify]: Simplify 0 into 0 21.916 * [backup-simplify]: Simplify 1 into 1 21.916 * [taylor]: Taking taylor expansion of phi2 in phi1 21.916 * [backup-simplify]: Simplify phi2 into phi2 21.916 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.917 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.917 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.917 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.917 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.917 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.917 * [backup-simplify]: Simplify 0.5 into 0.5 21.917 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.917 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.917 * [taylor]: Taking taylor expansion of phi1 in phi1 21.917 * [backup-simplify]: Simplify 0 into 0 21.917 * [backup-simplify]: Simplify 1 into 1 21.917 * [backup-simplify]: Simplify (/ 1 1) into 1 21.917 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.918 * [taylor]: Taking taylor expansion of phi2 in phi1 21.918 * [backup-simplify]: Simplify phi2 into phi2 21.918 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.918 * [backup-simplify]: Simplify (+ 1 0) into 1 21.919 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.919 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.919 * [backup-simplify]: Simplify (+ 0 1) into 1 21.920 * [backup-simplify]: Simplify (+ 1 0) into 1 21.920 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.921 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.921 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.922 * [backup-simplify]: Simplify (+ 0 0) into 0 21.922 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 21.922 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 21.922 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 21.923 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))) 21.923 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) 21.923 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2 21.923 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2 21.923 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2 21.923 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.924 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.924 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.924 * [backup-simplify]: Simplify 0.5 into 0.5 21.924 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.924 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.924 * [taylor]: Taking taylor expansion of phi1 in phi2 21.924 * [backup-simplify]: Simplify phi1 into phi1 21.924 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.924 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.924 * [taylor]: Taking taylor expansion of phi2 in phi2 21.924 * [backup-simplify]: Simplify 0 into 0 21.924 * [backup-simplify]: Simplify 1 into 1 21.924 * [backup-simplify]: Simplify (/ 1 1) into 1 21.925 * [backup-simplify]: Simplify (+ 0 1) into 1 21.925 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.925 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.925 * [taylor]: Taking taylor expansion of phi2 in phi2 21.925 * [backup-simplify]: Simplify 0 into 0 21.926 * [backup-simplify]: Simplify 1 into 1 21.926 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.926 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.927 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.927 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.927 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.928 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.928 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 21.928 * [taylor]: Taking taylor expansion of 1/2 in phi1 21.928 * [backup-simplify]: Simplify 1/2 into 1/2 21.928 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 21.928 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 21.928 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 21.928 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 21.928 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.928 * [taylor]: Taking taylor expansion of phi2 in phi1 21.928 * [backup-simplify]: Simplify phi2 into phi2 21.928 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.928 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.928 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 21.928 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.928 * [taylor]: Taking taylor expansion of phi1 in phi1 21.928 * [backup-simplify]: Simplify 0 into 0 21.929 * [backup-simplify]: Simplify 1 into 1 21.929 * [backup-simplify]: Simplify (* 1 1) into 1 21.929 * [backup-simplify]: Simplify (/ 1 1) into 1 21.929 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 21.930 * [taylor]: Taking taylor expansion of 2 in phi1 21.930 * [backup-simplify]: Simplify 2 into 2 21.930 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 21.930 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.930 * [taylor]: Taking taylor expansion of phi1 in phi1 21.930 * [backup-simplify]: Simplify 0 into 0 21.930 * [backup-simplify]: Simplify 1 into 1 21.930 * [taylor]: Taking taylor expansion of phi2 in phi1 21.930 * [backup-simplify]: Simplify phi2 into phi2 21.930 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.930 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.930 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.930 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.930 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.930 * [taylor]: Taking taylor expansion of 0.5 in phi1 21.930 * [backup-simplify]: Simplify 0.5 into 0.5 21.930 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.930 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.931 * [taylor]: Taking taylor expansion of phi1 in phi1 21.931 * [backup-simplify]: Simplify 0 into 0 21.931 * [backup-simplify]: Simplify 1 into 1 21.931 * [backup-simplify]: Simplify (/ 1 1) into 1 21.931 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.931 * [taylor]: Taking taylor expansion of phi2 in phi1 21.931 * [backup-simplify]: Simplify phi2 into phi2 21.931 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.931 * [backup-simplify]: Simplify (+ 1 0) into 1 21.932 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.932 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.932 * [backup-simplify]: Simplify (+ 0 1) into 1 21.932 * [backup-simplify]: Simplify (+ 1 0) into 1 21.932 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.933 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.933 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.933 * [backup-simplify]: Simplify (+ 0 0) into 0 21.934 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 21.934 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 21.934 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 21.934 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)))) 21.934 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) 21.934 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2))) in phi2 21.934 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2)) in phi2 21.934 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi2) in phi2 21.934 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.934 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.934 * [taylor]: Taking taylor expansion of 0.5 in phi2 21.934 * [backup-simplify]: Simplify 0.5 into 0.5 21.934 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.934 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.934 * [taylor]: Taking taylor expansion of phi1 in phi2 21.935 * [backup-simplify]: Simplify phi1 into phi1 21.935 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.935 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.935 * [taylor]: Taking taylor expansion of phi2 in phi2 21.935 * [backup-simplify]: Simplify 0 into 0 21.935 * [backup-simplify]: Simplify 1 into 1 21.935 * [backup-simplify]: Simplify (/ 1 1) into 1 21.935 * [backup-simplify]: Simplify (+ 0 1) into 1 21.935 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 21.936 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.936 * [taylor]: Taking taylor expansion of phi2 in phi2 21.936 * [backup-simplify]: Simplify 0 into 0 21.936 * [backup-simplify]: Simplify 1 into 1 21.936 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.936 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.936 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.936 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.936 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 21.937 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.937 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.938 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.938 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.938 * [backup-simplify]: Simplify (+ 0 0) into 0 21.939 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.939 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.939 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.940 * [backup-simplify]: Simplify (- 0) into 0 21.940 * [backup-simplify]: Simplify (+ 0 0) into 0 21.941 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 21.941 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 21.941 * [taylor]: Taking taylor expansion of 0 in phi1 21.941 * [backup-simplify]: Simplify 0 into 0 21.942 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 21.943 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 21.943 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 21.943 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 21.943 * [backup-simplify]: Simplify (+ 0 0) into 0 21.944 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 21.944 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 21.944 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 21.945 * [backup-simplify]: Simplify (- 0) into 0 21.945 * [backup-simplify]: Simplify (+ 0 0) into 0 21.945 * [taylor]: Taking taylor expansion of 0 in phi1 21.945 * [backup-simplify]: Simplify 0 into 0 21.945 * [taylor]: Taking taylor expansion of 0 in phi2 21.945 * [backup-simplify]: Simplify 0 into 0 21.945 * [taylor]: Taking taylor expansion of 0 in phi2 21.945 * [backup-simplify]: Simplify 0 into 0 21.946 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.946 * [taylor]: Taking taylor expansion of 0 in phi2 21.946 * [backup-simplify]: Simplify 0 into 0 21.946 * [taylor]: Taking taylor expansion of 0 in phi2 21.946 * [backup-simplify]: Simplify 0 into 0 21.946 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.946 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 21.947 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1)))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2))))))) into (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2)))))) 21.948 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) 21.948 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0 21.948 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi2 21.948 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi2 21.948 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in phi2 21.948 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2 21.948 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.948 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.948 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.948 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.948 * [backup-simplify]: Simplify -0.5 into -0.5 21.948 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.948 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.948 * [taylor]: Taking taylor expansion of phi1 in phi2 21.948 * [backup-simplify]: Simplify phi1 into phi1 21.948 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.948 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.948 * [taylor]: Taking taylor expansion of phi2 in phi2 21.948 * [backup-simplify]: Simplify 0 into 0 21.948 * [backup-simplify]: Simplify 1 into 1 21.949 * [backup-simplify]: Simplify (/ 1 1) into 1 21.949 * [backup-simplify]: Simplify (+ 0 1) into 1 21.949 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.949 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.949 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2 21.949 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.949 * [backup-simplify]: Simplify lambda2 into lambda2 21.950 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.950 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.950 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.950 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in phi2 21.950 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2 21.950 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2 21.950 * [taylor]: Taking taylor expansion of phi1 in phi2 21.950 * [backup-simplify]: Simplify phi1 into phi1 21.950 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.950 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.950 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in phi2 21.950 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2 21.950 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.950 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.950 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.950 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.950 * [backup-simplify]: Simplify -0.5 into -0.5 21.950 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.950 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.950 * [taylor]: Taking taylor expansion of phi1 in phi2 21.950 * [backup-simplify]: Simplify phi1 into phi1 21.950 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.950 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.950 * [taylor]: Taking taylor expansion of phi2 in phi2 21.950 * [backup-simplify]: Simplify 0 into 0 21.950 * [backup-simplify]: Simplify 1 into 1 21.951 * [backup-simplify]: Simplify (/ 1 1) into 1 21.951 * [backup-simplify]: Simplify (+ 0 1) into 1 21.951 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.951 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.951 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2 21.951 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.951 * [backup-simplify]: Simplify lambda1 into lambda1 21.952 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.952 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.952 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.952 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2 21.952 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2 21.952 * [taylor]: Taking taylor expansion of phi2 in phi2 21.952 * [backup-simplify]: Simplify 0 into 0 21.952 * [backup-simplify]: Simplify 1 into 1 21.952 * [backup-simplify]: Simplify (* 1 1) into 1 21.953 * [backup-simplify]: Simplify (/ 1 1) into 1 21.953 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2 21.953 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi2 21.953 * [taylor]: Taking taylor expansion of 2 in phi2 21.953 * [backup-simplify]: Simplify 2 into 2 21.953 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi2 21.953 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi2 21.953 * [taylor]: Taking taylor expansion of phi1 in phi2 21.953 * [backup-simplify]: Simplify phi1 into phi1 21.953 * [taylor]: Taking taylor expansion of phi2 in phi2 21.953 * [backup-simplify]: Simplify 0 into 0 21.953 * [backup-simplify]: Simplify 1 into 1 21.953 * [backup-simplify]: Simplify (* phi1 0) into 0 21.953 * [backup-simplify]: Simplify (+ (* phi1 1) (* 0 0)) into phi1 21.953 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.953 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2 21.953 * [taylor]: Taking taylor expansion of 2 in phi2 21.953 * [backup-simplify]: Simplify 2 into 2 21.953 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2 21.953 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2 21.953 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 21.953 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 21.953 * [taylor]: Taking taylor expansion of -0.5 in phi2 21.953 * [backup-simplify]: Simplify -0.5 into -0.5 21.953 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 21.953 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 21.953 * [taylor]: Taking taylor expansion of phi1 in phi2 21.953 * [backup-simplify]: Simplify phi1 into phi1 21.953 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.953 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 21.953 * [taylor]: Taking taylor expansion of phi2 in phi2 21.953 * [backup-simplify]: Simplify 0 into 0 21.953 * [backup-simplify]: Simplify 1 into 1 21.954 * [backup-simplify]: Simplify (/ 1 1) into 1 21.954 * [backup-simplify]: Simplify (+ 0 1) into 1 21.954 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.954 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.954 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2 21.954 * [taylor]: Taking taylor expansion of lambda2 in phi2 21.954 * [backup-simplify]: Simplify lambda2 into lambda2 21.954 * [taylor]: Taking taylor expansion of lambda1 in phi2 21.954 * [backup-simplify]: Simplify lambda1 into lambda1 21.955 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.955 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 21.955 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 21.955 * [backup-simplify]: Simplify (+ 0 1) into 1 21.955 * [backup-simplify]: Simplify (+ 0 1) into 1 21.956 * [backup-simplify]: Simplify (+ 0 1) into 1 21.959 * [backup-simplify]: Simplify (+ 1 0) into 1 21.960 * [backup-simplify]: Simplify (sqrt 1) into 1 21.960 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.961 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.961 * [backup-simplify]: Simplify (+ 0 0) into 0 21.961 * [backup-simplify]: Simplify (+ 0 0) into 0 21.961 * [backup-simplify]: Simplify (+ 0 0) into 0 21.961 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1) 21.961 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1)) 21.962 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1))) 21.962 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1))) 21.962 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1) 21.962 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1 21.962 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1 21.962 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in phi1 21.962 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1 21.962 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.962 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.962 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.962 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.962 * [backup-simplify]: Simplify -0.5 into -0.5 21.962 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.962 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.962 * [taylor]: Taking taylor expansion of phi1 in phi1 21.962 * [backup-simplify]: Simplify 0 into 0 21.962 * [backup-simplify]: Simplify 1 into 1 21.963 * [backup-simplify]: Simplify (/ 1 1) into 1 21.963 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.963 * [taylor]: Taking taylor expansion of phi2 in phi1 21.963 * [backup-simplify]: Simplify phi2 into phi2 21.963 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.963 * [backup-simplify]: Simplify (+ 1 0) into 1 21.963 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.963 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.963 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1 21.963 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.963 * [backup-simplify]: Simplify lambda2 into lambda2 21.964 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.964 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.964 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.964 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in phi1 21.964 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 21.964 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 21.964 * [taylor]: Taking taylor expansion of phi1 in phi1 21.964 * [backup-simplify]: Simplify 0 into 0 21.964 * [backup-simplify]: Simplify 1 into 1 21.964 * [backup-simplify]: Simplify (* 1 1) into 1 21.964 * [backup-simplify]: Simplify (/ 1 1) into 1 21.964 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in phi1 21.965 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1 21.965 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.965 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.965 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.965 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.965 * [backup-simplify]: Simplify -0.5 into -0.5 21.965 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.965 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.965 * [taylor]: Taking taylor expansion of phi1 in phi1 21.965 * [backup-simplify]: Simplify 0 into 0 21.965 * [backup-simplify]: Simplify 1 into 1 21.965 * [backup-simplify]: Simplify (/ 1 1) into 1 21.965 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.965 * [taylor]: Taking taylor expansion of phi2 in phi1 21.965 * [backup-simplify]: Simplify phi2 into phi2 21.965 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.965 * [backup-simplify]: Simplify (+ 1 0) into 1 21.966 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.966 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.966 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1 21.966 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.966 * [backup-simplify]: Simplify lambda1 into lambda1 21.966 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.966 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.966 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.966 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 21.966 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 21.966 * [taylor]: Taking taylor expansion of phi2 in phi1 21.966 * [backup-simplify]: Simplify phi2 into phi2 21.966 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.966 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.966 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1 21.966 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 21.966 * [taylor]: Taking taylor expansion of 2 in phi1 21.967 * [backup-simplify]: Simplify 2 into 2 21.967 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 21.967 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 21.967 * [taylor]: Taking taylor expansion of phi1 in phi1 21.967 * [backup-simplify]: Simplify 0 into 0 21.967 * [backup-simplify]: Simplify 1 into 1 21.967 * [taylor]: Taking taylor expansion of phi2 in phi1 21.967 * [backup-simplify]: Simplify phi2 into phi2 21.967 * [backup-simplify]: Simplify (* 0 phi2) into 0 21.967 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 21.967 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.967 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1 21.967 * [taylor]: Taking taylor expansion of 2 in phi1 21.967 * [backup-simplify]: Simplify 2 into 2 21.967 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1 21.967 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1 21.967 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 21.967 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 21.967 * [taylor]: Taking taylor expansion of -0.5 in phi1 21.967 * [backup-simplify]: Simplify -0.5 into -0.5 21.967 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 21.967 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 21.967 * [taylor]: Taking taylor expansion of phi1 in phi1 21.967 * [backup-simplify]: Simplify 0 into 0 21.967 * [backup-simplify]: Simplify 1 into 1 21.967 * [backup-simplify]: Simplify (/ 1 1) into 1 21.967 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 21.968 * [taylor]: Taking taylor expansion of phi2 in phi1 21.968 * [backup-simplify]: Simplify phi2 into phi2 21.968 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.968 * [backup-simplify]: Simplify (+ 1 0) into 1 21.968 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 21.968 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.968 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1 21.968 * [taylor]: Taking taylor expansion of lambda2 in phi1 21.968 * [backup-simplify]: Simplify lambda2 into lambda2 21.968 * [taylor]: Taking taylor expansion of lambda1 in phi1 21.968 * [backup-simplify]: Simplify lambda1 into lambda1 21.968 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.969 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1) 21.969 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) 21.969 * [backup-simplify]: Simplify (+ 1 0) into 1 21.969 * [backup-simplify]: Simplify (+ 0 1) into 1 21.970 * [backup-simplify]: Simplify (+ 1 0) into 1 21.970 * [backup-simplify]: Simplify (sqrt 1) into 1 21.970 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.971 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 21.971 * [backup-simplify]: Simplify (+ 0 0) into 0 21.971 * [backup-simplify]: Simplify (+ 0 0) into 0 21.971 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 21.971 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2)) 21.971 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2))) 21.971 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 21.972 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2) 21.972 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2 21.972 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2 21.972 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda2 21.972 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2 21.972 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.972 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.972 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.972 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.972 * [backup-simplify]: Simplify -0.5 into -0.5 21.972 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.972 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.972 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.972 * [backup-simplify]: Simplify phi1 into phi1 21.972 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.972 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.972 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.972 * [backup-simplify]: Simplify phi2 into phi2 21.972 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.972 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.972 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.972 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.973 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.973 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.973 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.973 * [backup-simplify]: Simplify (- 0) into 0 21.973 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.973 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2 21.973 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.973 * [backup-simplify]: Simplify 0 into 0 21.973 * [backup-simplify]: Simplify 1 into 1 21.973 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.974 * [backup-simplify]: Simplify (* 1 1) into 1 21.974 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.974 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda2 21.974 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 21.974 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 21.974 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.974 * [backup-simplify]: Simplify phi1 into phi1 21.974 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.974 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.974 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda2 21.974 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2 21.974 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.974 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.974 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.974 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.974 * [backup-simplify]: Simplify -0.5 into -0.5 21.974 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.974 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.974 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.974 * [backup-simplify]: Simplify phi1 into phi1 21.974 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.974 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.974 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.974 * [backup-simplify]: Simplify phi2 into phi2 21.975 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.975 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.975 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.975 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.975 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.975 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.975 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.975 * [backup-simplify]: Simplify (- 0) into 0 21.976 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.976 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2 21.976 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.976 * [backup-simplify]: Simplify lambda1 into lambda1 21.976 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.976 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2) 21.976 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 21.976 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 21.976 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 21.976 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.976 * [backup-simplify]: Simplify phi2 into phi2 21.976 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.976 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.976 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2 21.976 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 21.976 * [taylor]: Taking taylor expansion of 2 in lambda2 21.976 * [backup-simplify]: Simplify 2 into 2 21.976 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 21.976 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 21.976 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.976 * [backup-simplify]: Simplify phi1 into phi1 21.976 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.976 * [backup-simplify]: Simplify phi2 into phi2 21.976 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.977 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.977 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2 21.977 * [taylor]: Taking taylor expansion of 2 in lambda2 21.977 * [backup-simplify]: Simplify 2 into 2 21.977 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2 21.977 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2 21.977 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 21.977 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 21.977 * [taylor]: Taking taylor expansion of -0.5 in lambda2 21.977 * [backup-simplify]: Simplify -0.5 into -0.5 21.977 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 21.977 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 21.977 * [taylor]: Taking taylor expansion of phi1 in lambda2 21.977 * [backup-simplify]: Simplify phi1 into phi1 21.977 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.977 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 21.977 * [taylor]: Taking taylor expansion of phi2 in lambda2 21.977 * [backup-simplify]: Simplify phi2 into phi2 21.977 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.977 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.977 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.977 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.977 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.977 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.977 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.978 * [backup-simplify]: Simplify (- 0) into 0 21.978 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.978 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2 21.978 * [taylor]: Taking taylor expansion of lambda2 in lambda2 21.978 * [backup-simplify]: Simplify 0 into 0 21.978 * [backup-simplify]: Simplify 1 into 1 21.978 * [taylor]: Taking taylor expansion of lambda1 in lambda2 21.978 * [backup-simplify]: Simplify lambda1 into lambda1 21.978 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.978 * [backup-simplify]: Simplify (* 0 lambda1) into 0 21.978 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1 21.979 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 21.979 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.979 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.980 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.980 * [backup-simplify]: Simplify (+ 0) into 0 21.981 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.981 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.981 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.981 * [backup-simplify]: Simplify (+ 0 0) into 0 21.982 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 21.983 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 21.984 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 21.984 * [backup-simplify]: Simplify (- 0) into 0 21.984 * [backup-simplify]: Simplify (+ 0 0) into 0 21.985 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 21.986 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 21.987 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 21.987 * [backup-simplify]: Simplify (+ 0 0) into 0 21.988 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 21.988 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 21.989 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 21.989 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 21.990 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 21.990 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 21.990 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 21.990 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda1 21.990 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 21.990 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.990 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.990 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.990 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.990 * [backup-simplify]: Simplify -0.5 into -0.5 21.990 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.990 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.990 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.990 * [backup-simplify]: Simplify phi1 into phi1 21.991 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.991 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.991 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.991 * [backup-simplify]: Simplify phi2 into phi2 21.991 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.991 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.991 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.991 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.991 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.991 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.991 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.992 * [backup-simplify]: Simplify (- 0) into 0 21.992 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.992 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 21.992 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.992 * [backup-simplify]: Simplify lambda2 into lambda2 21.992 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.992 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 21.992 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 21.992 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda1 21.992 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 21.992 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 21.992 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.992 * [backup-simplify]: Simplify phi1 into phi1 21.993 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 21.993 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 21.993 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda1 21.993 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 21.993 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.993 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.993 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.993 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.993 * [backup-simplify]: Simplify -0.5 into -0.5 21.993 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.993 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.993 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.993 * [backup-simplify]: Simplify phi1 into phi1 21.993 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.993 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.993 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.993 * [backup-simplify]: Simplify phi2 into phi2 21.993 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.993 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.993 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.993 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.993 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.993 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.993 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.994 * [backup-simplify]: Simplify (- 0) into 0 21.994 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.994 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 21.994 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.994 * [backup-simplify]: Simplify 0 into 0 21.994 * [backup-simplify]: Simplify 1 into 1 21.994 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.994 * [backup-simplify]: Simplify (* 1 1) into 1 21.995 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.995 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 21.995 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 21.995 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.995 * [backup-simplify]: Simplify phi2 into phi2 21.995 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 21.995 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 21.995 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 21.995 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 21.995 * [taylor]: Taking taylor expansion of 2 in lambda1 21.995 * [backup-simplify]: Simplify 2 into 2 21.995 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 21.995 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 21.995 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.995 * [backup-simplify]: Simplify phi1 into phi1 21.995 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.995 * [backup-simplify]: Simplify phi2 into phi2 21.995 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 21.995 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 21.995 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 21.995 * [taylor]: Taking taylor expansion of 2 in lambda1 21.995 * [backup-simplify]: Simplify 2 into 2 21.995 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 21.995 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 21.995 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 21.995 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 21.995 * [taylor]: Taking taylor expansion of -0.5 in lambda1 21.995 * [backup-simplify]: Simplify -0.5 into -0.5 21.995 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 21.995 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 21.995 * [taylor]: Taking taylor expansion of phi1 in lambda1 21.995 * [backup-simplify]: Simplify phi1 into phi1 21.995 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 21.995 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 21.995 * [taylor]: Taking taylor expansion of phi2 in lambda1 21.995 * [backup-simplify]: Simplify phi2 into phi2 21.995 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 21.995 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 21.996 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 21.996 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.996 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.996 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.996 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 21.996 * [backup-simplify]: Simplify (- 0) into 0 21.996 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.996 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 21.996 * [taylor]: Taking taylor expansion of lambda2 in lambda1 21.996 * [backup-simplify]: Simplify lambda2 into lambda2 21.996 * [taylor]: Taking taylor expansion of lambda1 in lambda1 21.996 * [backup-simplify]: Simplify 0 into 0 21.996 * [backup-simplify]: Simplify 1 into 1 21.997 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.997 * [backup-simplify]: Simplify (* lambda2 0) into 0 21.997 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 21.997 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 21.997 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.998 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.998 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.998 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 21.998 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 21.998 * [backup-simplify]: Simplify (+ 0) into 0 21.999 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 21.999 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 21.999 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 21.999 * [backup-simplify]: Simplify (+ 0 0) into 0 22.000 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 22.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.000 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 22.001 * [backup-simplify]: Simplify (- 0) into 0 22.001 * [backup-simplify]: Simplify (+ 0 0) into 0 22.001 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 22.001 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 22.002 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 22.002 * [backup-simplify]: Simplify (+ 0 0) into 0 22.003 * [backup-simplify]: Simplify (+ 0 0) into 0 22.003 * [backup-simplify]: Simplify (+ 0 0) into 0 22.003 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 22.003 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 22.004 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 22.004 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 22.004 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 22.004 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1 22.005 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1 22.005 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))))) in lambda1 22.005 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1 22.005 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 22.005 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 22.005 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 22.005 * [taylor]: Taking taylor expansion of -0.5 in lambda1 22.005 * [backup-simplify]: Simplify -0.5 into -0.5 22.005 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 22.005 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 22.005 * [taylor]: Taking taylor expansion of phi1 in lambda1 22.005 * [backup-simplify]: Simplify phi1 into phi1 22.005 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.005 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 22.005 * [taylor]: Taking taylor expansion of phi2 in lambda1 22.005 * [backup-simplify]: Simplify phi2 into phi2 22.005 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.005 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 22.005 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 22.005 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.005 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.005 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.005 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 22.006 * [backup-simplify]: Simplify (- 0) into 0 22.006 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.006 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1 22.006 * [taylor]: Taking taylor expansion of lambda2 in lambda1 22.006 * [backup-simplify]: Simplify lambda2 into lambda2 22.006 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 22.006 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2) 22.007 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) 22.007 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2)))) in lambda1 22.007 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1 22.007 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1 22.007 * [taylor]: Taking taylor expansion of phi1 in lambda1 22.007 * [backup-simplify]: Simplify phi1 into phi1 22.007 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 22.007 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 22.007 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi2 2))) in lambda1 22.007 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1 22.007 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 22.007 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 22.007 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 22.007 * [taylor]: Taking taylor expansion of -0.5 in lambda1 22.007 * [backup-simplify]: Simplify -0.5 into -0.5 22.007 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 22.007 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 22.007 * [taylor]: Taking taylor expansion of phi1 in lambda1 22.007 * [backup-simplify]: Simplify phi1 into phi1 22.007 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.007 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 22.007 * [taylor]: Taking taylor expansion of phi2 in lambda1 22.007 * [backup-simplify]: Simplify phi2 into phi2 22.007 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.007 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 22.007 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 22.007 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.007 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.008 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.008 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 22.008 * [backup-simplify]: Simplify (- 0) into 0 22.008 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.008 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1 22.008 * [taylor]: Taking taylor expansion of lambda1 in lambda1 22.008 * [backup-simplify]: Simplify 0 into 0 22.008 * [backup-simplify]: Simplify 1 into 1 22.008 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 22.009 * [backup-simplify]: Simplify (* 1 1) into 1 22.009 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 22.009 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1 22.009 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1 22.009 * [taylor]: Taking taylor expansion of phi2 in lambda1 22.009 * [backup-simplify]: Simplify phi2 into phi2 22.009 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 22.009 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 22.009 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi1 phi2))) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1 22.009 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda1 22.009 * [taylor]: Taking taylor expansion of 2 in lambda1 22.009 * [backup-simplify]: Simplify 2 into 2 22.009 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda1 22.009 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda1 22.009 * [taylor]: Taking taylor expansion of phi1 in lambda1 22.009 * [backup-simplify]: Simplify phi1 into phi1 22.009 * [taylor]: Taking taylor expansion of phi2 in lambda1 22.009 * [backup-simplify]: Simplify phi2 into phi2 22.009 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 22.009 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 22.009 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1 22.009 * [taylor]: Taking taylor expansion of 2 in lambda1 22.009 * [backup-simplify]: Simplify 2 into 2 22.009 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1 22.009 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1 22.010 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1 22.010 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1 22.010 * [taylor]: Taking taylor expansion of -0.5 in lambda1 22.010 * [backup-simplify]: Simplify -0.5 into -0.5 22.010 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1 22.010 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1 22.010 * [taylor]: Taking taylor expansion of phi1 in lambda1 22.010 * [backup-simplify]: Simplify phi1 into phi1 22.010 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.010 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1 22.010 * [taylor]: Taking taylor expansion of phi2 in lambda1 22.010 * [backup-simplify]: Simplify phi2 into phi2 22.010 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.010 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 22.010 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 22.010 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.010 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.010 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.010 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 22.011 * [backup-simplify]: Simplify (- 0) into 0 22.011 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.011 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1 22.011 * [taylor]: Taking taylor expansion of lambda2 in lambda1 22.011 * [backup-simplify]: Simplify lambda2 into lambda2 22.011 * [taylor]: Taking taylor expansion of lambda1 in lambda1 22.011 * [backup-simplify]: Simplify 0 into 0 22.011 * [backup-simplify]: Simplify 1 into 1 22.011 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 22.011 * [backup-simplify]: Simplify (* lambda2 0) into 0 22.011 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2 22.012 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) 22.012 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 22.012 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 22.012 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 22.013 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 22.013 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.013 * [backup-simplify]: Simplify (+ 0) into 0 22.013 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 22.014 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 22.014 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 22.014 * [backup-simplify]: Simplify (+ 0 0) into 0 22.014 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 22.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.015 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 22.015 * [backup-simplify]: Simplify (- 0) into 0 22.016 * [backup-simplify]: Simplify (+ 0 0) into 0 22.016 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 22.016 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 22.017 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0 22.017 * [backup-simplify]: Simplify (+ 0 0) into 0 22.017 * [backup-simplify]: Simplify (+ 0 0) into 0 22.018 * [backup-simplify]: Simplify (+ 0 0) into 0 22.018 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 22.018 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 22.018 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 22.019 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) 22.019 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 22.019 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 22.019 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 22.019 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.019 * [backup-simplify]: Simplify -0.5 into -0.5 22.019 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 22.019 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 22.019 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.019 * [backup-simplify]: Simplify phi1 into phi1 22.019 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.019 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 22.019 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.019 * [backup-simplify]: Simplify phi2 into phi2 22.019 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.020 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 22.020 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 22.020 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.020 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.020 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2 22.020 * [taylor]: Taking taylor expansion of -1 in lambda2 22.020 * [backup-simplify]: Simplify -1 into -1 22.020 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2 22.020 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 22.020 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 22.020 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.020 * [backup-simplify]: Simplify -0.5 into -0.5 22.020 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 22.020 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 22.020 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.020 * [backup-simplify]: Simplify phi1 into phi1 22.020 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.020 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 22.020 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.020 * [backup-simplify]: Simplify phi2 into phi2 22.020 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.020 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 22.020 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 22.020 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.020 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.020 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.021 * [backup-simplify]: Simplify 0 into 0 22.021 * [backup-simplify]: Simplify 1 into 1 22.021 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.021 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 22.021 * [backup-simplify]: Simplify (- 0) into 0 22.021 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.021 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.021 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 22.021 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 22.022 * [taylor]: Taking taylor expansion of -1 in phi1 22.022 * [backup-simplify]: Simplify -1 into -1 22.022 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.022 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.022 * [taylor]: Taking taylor expansion of -0.5 in phi1 22.022 * [backup-simplify]: Simplify -0.5 into -0.5 22.022 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.022 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.022 * [taylor]: Taking taylor expansion of phi1 in phi1 22.022 * [backup-simplify]: Simplify 0 into 0 22.022 * [backup-simplify]: Simplify 1 into 1 22.022 * [backup-simplify]: Simplify (/ 1 1) into 1 22.022 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.022 * [taylor]: Taking taylor expansion of phi2 in phi1 22.022 * [backup-simplify]: Simplify phi2 into phi2 22.022 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.022 * [backup-simplify]: Simplify (+ 1 0) into 1 22.023 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.023 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.023 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.023 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 22.023 * [backup-simplify]: Simplify (- 0) into 0 22.024 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.024 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.024 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.024 * [taylor]: Taking taylor expansion of -0.5 in phi1 22.024 * [backup-simplify]: Simplify -0.5 into -0.5 22.024 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.024 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.024 * [taylor]: Taking taylor expansion of phi1 in phi1 22.024 * [backup-simplify]: Simplify 0 into 0 22.024 * [backup-simplify]: Simplify 1 into 1 22.024 * [backup-simplify]: Simplify (/ 1 1) into 1 22.024 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.024 * [taylor]: Taking taylor expansion of phi2 in phi1 22.024 * [backup-simplify]: Simplify phi2 into phi2 22.025 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.025 * [backup-simplify]: Simplify (+ 1 0) into 1 22.025 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.026 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.027 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.028 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 22.028 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 22.028 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 22.028 * [backup-simplify]: Simplify (+ 0 0) into 0 22.029 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 22.030 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.031 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 22.031 * [backup-simplify]: Simplify (- 0) into 0 22.032 * [backup-simplify]: Simplify (+ 0 0) into 0 22.032 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 22.033 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0 22.035 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0 22.035 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi2 2))) into (/ 1 (pow phi2 2)) 22.035 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 22.036 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) 22.036 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 22.036 * [backup-simplify]: Simplify (+ 0) into 0 22.037 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 22.037 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 22.037 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 22.037 * [backup-simplify]: Simplify (+ 0 0) into 0 22.037 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 22.038 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.038 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 22.038 * [backup-simplify]: Simplify (- 0) into 0 22.039 * [backup-simplify]: Simplify (+ 0 0) into 0 22.039 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 22.039 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0 22.040 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0 22.040 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0 22.040 * [backup-simplify]: Simplify (+ (/ 2 (* phi1 phi2)) 0) into (* 2 (/ 1 (* phi1 phi2))) 22.040 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi1 phi2)))) into (- (* 2 (/ 1 (* phi1 phi2)))) 22.041 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) 22.042 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi1 phi2)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 22.042 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 22.042 * [taylor]: Taking taylor expansion of 1/2 in lambda2 22.042 * [backup-simplify]: Simplify 1/2 into 1/2 22.042 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 22.042 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in lambda2 22.042 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2 22.042 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2 22.042 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 22.042 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.042 * [backup-simplify]: Simplify phi2 into phi2 22.042 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 22.042 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 22.042 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2 22.042 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 22.042 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.042 * [backup-simplify]: Simplify phi1 into phi1 22.042 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 22.042 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 22.042 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in lambda2 22.043 * [taylor]: Taking taylor expansion of 2 in lambda2 22.043 * [backup-simplify]: Simplify 2 into 2 22.043 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in lambda2 22.043 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 22.043 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.043 * [backup-simplify]: Simplify phi1 into phi1 22.043 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.043 * [backup-simplify]: Simplify phi2 into phi2 22.043 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 22.043 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 22.043 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 22.043 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 22.043 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.043 * [backup-simplify]: Simplify -0.5 into -0.5 22.043 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 22.043 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 22.043 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.043 * [backup-simplify]: Simplify phi1 into phi1 22.043 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.043 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 22.043 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.043 * [backup-simplify]: Simplify phi2 into phi2 22.043 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.043 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 22.043 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 22.043 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.043 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.043 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 22.044 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 22.044 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 22.044 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 22.044 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.044 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 22.044 * [backup-simplify]: Simplify (- 0) into 0 22.045 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.045 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 22.045 * [backup-simplify]: Simplify (+ 0) into 0 22.046 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 22.046 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 22.046 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 22.046 * [backup-simplify]: Simplify (+ 0 0) into 0 22.046 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 22.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.047 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 22.048 * [backup-simplify]: Simplify (- 0) into 0 22.048 * [backup-simplify]: Simplify (+ 0 0) into 0 22.048 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0 22.049 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 22.049 * [taylor]: Taking taylor expansion of 0 in phi1 22.049 * [backup-simplify]: Simplify 0 into 0 22.049 * [backup-simplify]: Simplify (+ 0) into 0 22.050 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 22.050 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 22.050 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 22.050 * [backup-simplify]: Simplify (+ 0 0) into 0 22.050 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 22.051 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.051 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 22.051 * [backup-simplify]: Simplify (- 0) into 0 22.052 * [backup-simplify]: Simplify (+ 0 0) into 0 22.052 * [taylor]: Taking taylor expansion of 0 in phi1 22.052 * [backup-simplify]: Simplify 0 into 0 22.052 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 22.052 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 22.052 * [taylor]: Taking taylor expansion of -1 in phi2 22.052 * [backup-simplify]: Simplify -1 into -1 22.052 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.052 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.052 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.052 * [backup-simplify]: Simplify -0.5 into -0.5 22.052 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.052 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.052 * [taylor]: Taking taylor expansion of phi1 in phi2 22.052 * [backup-simplify]: Simplify phi1 into phi1 22.052 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.052 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.052 * [taylor]: Taking taylor expansion of phi2 in phi2 22.052 * [backup-simplify]: Simplify 0 into 0 22.052 * [backup-simplify]: Simplify 1 into 1 22.052 * [backup-simplify]: Simplify (/ 1 1) into 1 22.053 * [backup-simplify]: Simplify (+ 0 1) into 1 22.053 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.053 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.053 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.053 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.053 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.053 * [backup-simplify]: Simplify -0.5 into -0.5 22.053 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.053 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.053 * [taylor]: Taking taylor expansion of phi1 in phi2 22.053 * [backup-simplify]: Simplify phi1 into phi1 22.053 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.053 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.053 * [taylor]: Taking taylor expansion of phi2 in phi2 22.053 * [backup-simplify]: Simplify 0 into 0 22.053 * [backup-simplify]: Simplify 1 into 1 22.054 * [backup-simplify]: Simplify (/ 1 1) into 1 22.054 * [backup-simplify]: Simplify (+ 0 1) into 1 22.054 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.054 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.055 * [backup-simplify]: Simplify (+ 0) into 0 22.055 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0 22.055 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0 22.055 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0 22.056 * [backup-simplify]: Simplify (+ 0 0) into 0 22.056 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0 22.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0 22.057 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0 22.057 * [backup-simplify]: Simplify (- 0) into 0 22.057 * [backup-simplify]: Simplify (+ 0 0) into 0 22.057 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 22.058 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0 22.058 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0 22.058 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 22.058 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0 22.059 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0 22.059 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 22.060 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 22.060 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 22.060 * [backup-simplify]: Simplify (+ 0 0) into 0 22.061 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 22.062 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0 22.063 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0 22.063 * [backup-simplify]: Simplify (- 0) into 0 22.063 * [backup-simplify]: Simplify (+ 0 0) into 0 22.064 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0 22.064 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0 22.066 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0 22.066 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 22.066 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0 22.067 * [backup-simplify]: Simplify (+ 0 0) into 0 22.067 * [backup-simplify]: Simplify (+ 0 0) into 0 22.067 * [backup-simplify]: Simplify (+ 0 0) into 0 22.067 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 22.067 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi1 phi2)) (/ 0 (* phi1 phi2))))) into 0 22.068 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi1 phi2)))) into 0 22.068 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.069 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 22.069 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 22.069 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 22.069 * [backup-simplify]: Simplify (+ 0 0) into 0 22.070 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 22.073 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.077 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 22.077 * [backup-simplify]: Simplify (- 0) into 0 22.077 * [backup-simplify]: Simplify (+ 0 0) into 0 22.078 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 22.078 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0 22.079 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0 22.080 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0 22.080 * [backup-simplify]: Simplify (+ 0 0) into 0 22.080 * [backup-simplify]: Simplify (- 0) into 0 22.080 * [backup-simplify]: Simplify (+ 0 0) into 0 22.081 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 22.081 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2 22.081 * [taylor]: Taking taylor expansion of 1/2 in lambda2 22.081 * [backup-simplify]: Simplify 1/2 into 1/2 22.081 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2 22.082 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) (* 2 (/ 1 (* lambda2 (* phi1 phi2))))) in lambda2 22.082 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi2 2))) (/ 1 (* lambda2 (pow phi1 2)))) in lambda2 22.082 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi2 2))) in lambda2 22.082 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi2 2)) in lambda2 22.082 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.082 * [backup-simplify]: Simplify 0 into 0 22.082 * [backup-simplify]: Simplify 1 into 1 22.082 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2 22.082 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.082 * [backup-simplify]: Simplify phi2 into phi2 22.082 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 22.082 * [backup-simplify]: Simplify (* 0 (pow phi2 2)) into 0 22.082 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0 22.082 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi2 2))) into (pow phi2 2) 22.082 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 22.082 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2 22.082 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2 22.082 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.082 * [backup-simplify]: Simplify 0 into 0 22.082 * [backup-simplify]: Simplify 1 into 1 22.082 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2 22.082 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.082 * [backup-simplify]: Simplify phi1 into phi1 22.083 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2) 22.083 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0 22.083 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0 22.083 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2) 22.083 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2)) 22.083 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* lambda2 (* phi1 phi2)))) in lambda2 22.083 * [taylor]: Taking taylor expansion of 2 in lambda2 22.083 * [backup-simplify]: Simplify 2 into 2 22.083 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (* phi1 phi2))) in lambda2 22.083 * [taylor]: Taking taylor expansion of (* lambda2 (* phi1 phi2)) in lambda2 22.083 * [taylor]: Taking taylor expansion of lambda2 in lambda2 22.083 * [backup-simplify]: Simplify 0 into 0 22.083 * [backup-simplify]: Simplify 1 into 1 22.083 * [taylor]: Taking taylor expansion of (* phi1 phi2) in lambda2 22.083 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.083 * [backup-simplify]: Simplify phi1 into phi1 22.083 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.083 * [backup-simplify]: Simplify phi2 into phi2 22.083 * [backup-simplify]: Simplify (* phi1 phi2) into (* phi1 phi2) 22.083 * [backup-simplify]: Simplify (* 0 (* phi1 phi2)) into 0 22.083 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi2)) into 0 22.084 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* phi1 phi2))) into (* phi1 phi2) 22.084 * [backup-simplify]: Simplify (/ 1 (* phi1 phi2)) into (/ 1 (* phi1 phi2)) 22.084 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2 22.084 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2 22.084 * [taylor]: Taking taylor expansion of -0.5 in lambda2 22.084 * [backup-simplify]: Simplify -0.5 into -0.5 22.084 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2 22.084 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2 22.084 * [taylor]: Taking taylor expansion of phi1 in lambda2 22.084 * [backup-simplify]: Simplify phi1 into phi1 22.084 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.084 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2 22.084 * [taylor]: Taking taylor expansion of phi2 in lambda2 22.084 * [backup-simplify]: Simplify phi2 into phi2 22.084 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.084 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2)) 22.084 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) 22.084 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.084 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.085 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) 22.085 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi1 phi2))) into (/ 2 (* phi1 phi2)) 22.085 * [backup-simplify]: Simplify (- (/ 2 (* phi1 phi2))) into (- (* 2 (/ 1 (* phi1 phi2)))) 22.085 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi1 phi2))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) 22.085 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.085 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0 22.086 * [backup-simplify]: Simplify (- 0) into 0 22.086 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.086 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 22.086 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 22.086 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 22.086 * [taylor]: Taking taylor expansion of 1/2 in phi1 22.086 * [backup-simplify]: Simplify 1/2 into 1/2 22.086 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 22.086 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 22.087 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 22.087 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 22.087 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 22.087 * [taylor]: Taking taylor expansion of phi2 in phi1 22.087 * [backup-simplify]: Simplify phi2 into phi2 22.087 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 22.087 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 22.087 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 22.087 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 22.087 * [taylor]: Taking taylor expansion of phi1 in phi1 22.087 * [backup-simplify]: Simplify 0 into 0 22.087 * [backup-simplify]: Simplify 1 into 1 22.087 * [backup-simplify]: Simplify (* 1 1) into 1 22.088 * [backup-simplify]: Simplify (/ 1 1) into 1 22.088 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 22.088 * [taylor]: Taking taylor expansion of 2 in phi1 22.088 * [backup-simplify]: Simplify 2 into 2 22.088 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 22.088 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 22.088 * [taylor]: Taking taylor expansion of phi1 in phi1 22.088 * [backup-simplify]: Simplify 0 into 0 22.088 * [backup-simplify]: Simplify 1 into 1 22.088 * [taylor]: Taking taylor expansion of phi2 in phi1 22.088 * [backup-simplify]: Simplify phi2 into phi2 22.088 * [backup-simplify]: Simplify (* 0 phi2) into 0 22.088 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 22.088 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.088 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.089 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.089 * [taylor]: Taking taylor expansion of -0.5 in phi1 22.089 * [backup-simplify]: Simplify -0.5 into -0.5 22.089 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.089 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.089 * [taylor]: Taking taylor expansion of phi1 in phi1 22.089 * [backup-simplify]: Simplify 0 into 0 22.089 * [backup-simplify]: Simplify 1 into 1 22.089 * [backup-simplify]: Simplify (/ 1 1) into 1 22.089 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.089 * [taylor]: Taking taylor expansion of phi2 in phi1 22.089 * [backup-simplify]: Simplify phi2 into phi2 22.089 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.090 * [backup-simplify]: Simplify (+ 1 0) into 1 22.090 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.090 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.091 * [backup-simplify]: Simplify (+ 0 1) into 1 22.091 * [backup-simplify]: Simplify (+ 1 0) into 1 22.091 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 22.092 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 22.093 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 22.093 * [backup-simplify]: Simplify (+ 0 0) into 0 22.094 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 22.094 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 22.094 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 22.095 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 22.095 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 22.095 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 22.095 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 22.095 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 22.095 * [taylor]: Taking taylor expansion of phi2 in phi2 22.095 * [backup-simplify]: Simplify 0 into 0 22.095 * [backup-simplify]: Simplify 1 into 1 22.095 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.095 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.095 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.096 * [backup-simplify]: Simplify -0.5 into -0.5 22.096 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.096 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.096 * [taylor]: Taking taylor expansion of phi1 in phi2 22.096 * [backup-simplify]: Simplify phi1 into phi1 22.096 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.096 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.096 * [taylor]: Taking taylor expansion of phi2 in phi2 22.096 * [backup-simplify]: Simplify 0 into 0 22.096 * [backup-simplify]: Simplify 1 into 1 22.096 * [backup-simplify]: Simplify (/ 1 1) into 1 22.097 * [backup-simplify]: Simplify (+ 0 1) into 1 22.097 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.098 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.098 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 22.098 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.099 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 22.099 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 22.099 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 22.100 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 22.100 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1 22.100 * [taylor]: Taking taylor expansion of 1/2 in phi1 22.100 * [backup-simplify]: Simplify 1/2 into 1/2 22.100 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1 22.100 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi1 phi2)))) in phi1 22.100 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1 22.100 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1 22.100 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1 22.100 * [taylor]: Taking taylor expansion of phi2 in phi1 22.100 * [backup-simplify]: Simplify phi2 into phi2 22.100 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2) 22.100 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2)) 22.100 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1 22.101 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1 22.101 * [taylor]: Taking taylor expansion of phi1 in phi1 22.101 * [backup-simplify]: Simplify 0 into 0 22.101 * [backup-simplify]: Simplify 1 into 1 22.101 * [backup-simplify]: Simplify (* 1 1) into 1 22.102 * [backup-simplify]: Simplify (/ 1 1) into 1 22.102 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi1 phi2))) in phi1 22.102 * [taylor]: Taking taylor expansion of 2 in phi1 22.102 * [backup-simplify]: Simplify 2 into 2 22.102 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 phi2)) in phi1 22.102 * [taylor]: Taking taylor expansion of (* phi1 phi2) in phi1 22.102 * [taylor]: Taking taylor expansion of phi1 in phi1 22.102 * [backup-simplify]: Simplify 0 into 0 22.102 * [backup-simplify]: Simplify 1 into 1 22.102 * [taylor]: Taking taylor expansion of phi2 in phi1 22.102 * [backup-simplify]: Simplify phi2 into phi2 22.102 * [backup-simplify]: Simplify (* 0 phi2) into 0 22.102 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi2)) into phi2 22.102 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.103 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.103 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.103 * [taylor]: Taking taylor expansion of -0.5 in phi1 22.103 * [backup-simplify]: Simplify -0.5 into -0.5 22.103 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.103 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.103 * [taylor]: Taking taylor expansion of phi1 in phi1 22.103 * [backup-simplify]: Simplify 0 into 0 22.103 * [backup-simplify]: Simplify 1 into 1 22.103 * [backup-simplify]: Simplify (/ 1 1) into 1 22.103 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.103 * [taylor]: Taking taylor expansion of phi2 in phi1 22.103 * [backup-simplify]: Simplify phi2 into phi2 22.103 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.104 * [backup-simplify]: Simplify (+ 1 0) into 1 22.104 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.104 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.105 * [backup-simplify]: Simplify (+ 0 1) into 1 22.105 * [backup-simplify]: Simplify (+ 1 0) into 1 22.106 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 22.106 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0 22.107 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0 22.107 * [backup-simplify]: Simplify (+ 0 0) into 0 22.108 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2) 22.108 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2))) 22.108 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2))) 22.108 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) 22.109 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) 22.109 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2 22.109 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2 22.109 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2 22.109 * [taylor]: Taking taylor expansion of phi2 in phi2 22.109 * [backup-simplify]: Simplify 0 into 0 22.109 * [backup-simplify]: Simplify 1 into 1 22.109 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.109 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.109 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.109 * [backup-simplify]: Simplify -0.5 into -0.5 22.109 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.110 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.110 * [taylor]: Taking taylor expansion of phi1 in phi2 22.110 * [backup-simplify]: Simplify phi1 into phi1 22.110 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.110 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.110 * [taylor]: Taking taylor expansion of phi2 in phi2 22.110 * [backup-simplify]: Simplify 0 into 0 22.110 * [backup-simplify]: Simplify 1 into 1 22.110 * [backup-simplify]: Simplify (/ 1 1) into 1 22.111 * [backup-simplify]: Simplify (+ 0 1) into 1 22.111 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.111 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.112 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 22.112 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.113 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 22.113 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 22.113 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) 22.114 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.115 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 22.116 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 22.116 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 22.116 * [backup-simplify]: Simplify (+ 0 0) into 0 22.118 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 22.119 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.120 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 22.120 * [backup-simplify]: Simplify (- 0) into 0 22.121 * [backup-simplify]: Simplify (+ 0 0) into 0 22.122 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0 22.124 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0 22.124 * [taylor]: Taking taylor expansion of 0 in phi1 22.124 * [backup-simplify]: Simplify 0 into 0 22.125 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0 22.125 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0 22.126 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0 22.126 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0 22.126 * [backup-simplify]: Simplify (+ 0 0) into 0 22.127 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0 22.128 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.129 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0 22.129 * [backup-simplify]: Simplify (- 0) into 0 22.130 * [backup-simplify]: Simplify (+ 0 0) into 0 22.130 * [taylor]: Taking taylor expansion of 0 in phi1 22.130 * [backup-simplify]: Simplify 0 into 0 22.130 * [taylor]: Taking taylor expansion of 0 in phi2 22.130 * [backup-simplify]: Simplify 0 into 0 22.130 * [taylor]: Taking taylor expansion of 0 in phi2 22.130 * [backup-simplify]: Simplify 0 into 0 22.131 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0 22.131 * [taylor]: Taking taylor expansion of 0 in phi2 22.131 * [backup-simplify]: Simplify 0 into 0 22.131 * [taylor]: Taking taylor expansion of 0 in phi2 22.131 * [backup-simplify]: Simplify 0 into 0 22.131 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 22.131 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) 22.134 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1)))) (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1)))))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2))))))) into (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))))) 22.134 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 2 1 1 1 2 2) 22.134 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi1 phi2))) 22.134 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi1 phi2) around 0 22.134 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 22.134 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 22.134 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.134 * [backup-simplify]: Simplify 0.5 into 0.5 22.134 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 22.135 * [taylor]: Taking taylor expansion of phi1 in phi2 22.135 * [backup-simplify]: Simplify phi1 into phi1 22.135 * [taylor]: Taking taylor expansion of phi2 in phi2 22.135 * [backup-simplify]: Simplify 0 into 0 22.135 * [backup-simplify]: Simplify 1 into 1 22.135 * [backup-simplify]: Simplify (+ phi1 0) into phi1 22.135 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 22.135 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 22.135 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 22.135 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 22.135 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 22.135 * [taylor]: Taking taylor expansion of 0.5 in phi1 22.135 * [backup-simplify]: Simplify 0.5 into 0.5 22.135 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 22.135 * [taylor]: Taking taylor expansion of phi1 in phi1 22.135 * [backup-simplify]: Simplify 0 into 0 22.135 * [backup-simplify]: Simplify 1 into 1 22.135 * [taylor]: Taking taylor expansion of phi2 in phi1 22.135 * [backup-simplify]: Simplify phi2 into phi2 22.135 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 22.135 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.135 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.136 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.136 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 22.136 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 22.136 * [taylor]: Taking taylor expansion of 0.5 in phi1 22.136 * [backup-simplify]: Simplify 0.5 into 0.5 22.136 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 22.136 * [taylor]: Taking taylor expansion of phi1 in phi1 22.136 * [backup-simplify]: Simplify 0 into 0 22.136 * [backup-simplify]: Simplify 1 into 1 22.136 * [taylor]: Taking taylor expansion of phi2 in phi1 22.136 * [backup-simplify]: Simplify phi2 into phi2 22.136 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 22.136 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.136 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.136 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.136 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 22.136 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 22.137 * [backup-simplify]: Simplify (- 0) into 0 22.137 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 22.137 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 22.137 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 22.137 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.137 * [backup-simplify]: Simplify 0.5 into 0.5 22.137 * [taylor]: Taking taylor expansion of phi2 in phi2 22.137 * [backup-simplify]: Simplify 0 into 0 22.137 * [backup-simplify]: Simplify 1 into 1 22.138 * [backup-simplify]: Simplify (* 0.5 0) into 0 22.139 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 22.139 * [backup-simplify]: Simplify 1 into 1 22.140 * [backup-simplify]: Simplify (+ 0) into 0 22.140 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 22.141 * [backup-simplify]: Simplify (+ 1 0) into 1 22.141 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 22.143 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 22.144 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 22.144 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 22.144 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 22.144 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 22.144 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 22.144 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.144 * [backup-simplify]: Simplify 0.5 into 0.5 22.144 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 22.144 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 22.144 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.144 * [backup-simplify]: Simplify 0.5 into 0.5 22.144 * [taylor]: Taking taylor expansion of phi2 in phi2 22.145 * [backup-simplify]: Simplify 0 into 0 22.145 * [backup-simplify]: Simplify 1 into 1 22.145 * [backup-simplify]: Simplify (* 0.5 0) into 0 22.146 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 22.147 * [backup-simplify]: Simplify (* 0.5 0) into 0 22.147 * [backup-simplify]: Simplify (- 0) into 0 22.147 * [backup-simplify]: Simplify 0 into 0 22.148 * [backup-simplify]: Simplify (+ 0) into 0 22.148 * [backup-simplify]: Simplify 0 into 0 22.151 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 22.152 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 22.152 * [backup-simplify]: Simplify (+ 0 0) into 0 22.153 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 22.154 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.155 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 22.155 * [backup-simplify]: Simplify (- 0) into 0 22.155 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 22.155 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 22.155 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 22.155 * [taylor]: Taking taylor expansion of 0.125 in phi2 22.155 * [backup-simplify]: Simplify 0.125 into 0.125 22.155 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 22.155 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 22.155 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.155 * [backup-simplify]: Simplify 0.5 into 0.5 22.155 * [taylor]: Taking taylor expansion of phi2 in phi2 22.156 * [backup-simplify]: Simplify 0 into 0 22.156 * [backup-simplify]: Simplify 1 into 1 22.156 * [backup-simplify]: Simplify (* 0.5 0) into 0 22.157 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 22.158 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 22.158 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 22.159 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 22.161 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 22.162 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 22.163 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 22.163 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 22.164 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) 22.164 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.164 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 22.164 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.165 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.165 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.165 * [backup-simplify]: Simplify 0.5 into 0.5 22.165 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.165 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.165 * [taylor]: Taking taylor expansion of phi1 in phi2 22.165 * [backup-simplify]: Simplify phi1 into phi1 22.165 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.165 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.165 * [taylor]: Taking taylor expansion of phi2 in phi2 22.165 * [backup-simplify]: Simplify 0 into 0 22.165 * [backup-simplify]: Simplify 1 into 1 22.165 * [backup-simplify]: Simplify (/ 1 1) into 1 22.166 * [backup-simplify]: Simplify (+ 0 1) into 1 22.166 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 22.166 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.166 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.166 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.166 * [taylor]: Taking taylor expansion of 0.5 in phi1 22.166 * [backup-simplify]: Simplify 0.5 into 0.5 22.166 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.166 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.166 * [taylor]: Taking taylor expansion of phi1 in phi1 22.166 * [backup-simplify]: Simplify 0 into 0 22.167 * [backup-simplify]: Simplify 1 into 1 22.167 * [backup-simplify]: Simplify (/ 1 1) into 1 22.167 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.167 * [taylor]: Taking taylor expansion of phi2 in phi1 22.167 * [backup-simplify]: Simplify phi2 into phi2 22.167 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.167 * [backup-simplify]: Simplify (+ 1 0) into 1 22.168 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 22.168 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.168 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.168 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.168 * [taylor]: Taking taylor expansion of 0.5 in phi1 22.168 * [backup-simplify]: Simplify 0.5 into 0.5 22.168 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.168 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.168 * [taylor]: Taking taylor expansion of phi1 in phi1 22.168 * [backup-simplify]: Simplify 0 into 0 22.168 * [backup-simplify]: Simplify 1 into 1 22.169 * [backup-simplify]: Simplify (/ 1 1) into 1 22.169 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.169 * [taylor]: Taking taylor expansion of phi2 in phi1 22.169 * [backup-simplify]: Simplify phi2 into phi2 22.169 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.169 * [backup-simplify]: Simplify (+ 1 0) into 1 22.170 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 22.170 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.170 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.170 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.170 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.170 * [backup-simplify]: Simplify 0.5 into 0.5 22.170 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.170 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.170 * [taylor]: Taking taylor expansion of phi1 in phi2 22.170 * [backup-simplify]: Simplify phi1 into phi1 22.170 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.170 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.170 * [taylor]: Taking taylor expansion of phi2 in phi2 22.170 * [backup-simplify]: Simplify 0 into 0 22.170 * [backup-simplify]: Simplify 1 into 1 22.171 * [backup-simplify]: Simplify (/ 1 1) into 1 22.171 * [backup-simplify]: Simplify (+ 0 1) into 1 22.172 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 22.172 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.172 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.172 * [taylor]: Taking taylor expansion of 0 in phi2 22.172 * [backup-simplify]: Simplify 0 into 0 22.172 * [backup-simplify]: Simplify 0 into 0 22.172 * [backup-simplify]: Simplify 0 into 0 22.172 * [taylor]: Taking taylor expansion of 0 in phi2 22.172 * [backup-simplify]: Simplify 0 into 0 22.172 * [backup-simplify]: Simplify 0 into 0 22.172 * [backup-simplify]: Simplify 0 into 0 22.172 * [backup-simplify]: Simplify 0 into 0 22.172 * [taylor]: Taking taylor expansion of 0 in phi2 22.173 * [backup-simplify]: Simplify 0 into 0 22.173 * [backup-simplify]: Simplify 0 into 0 22.173 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2))) 22.173 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.173 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 22.173 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.173 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.173 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.173 * [backup-simplify]: Simplify -0.5 into -0.5 22.173 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.173 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.173 * [taylor]: Taking taylor expansion of phi1 in phi2 22.174 * [backup-simplify]: Simplify phi1 into phi1 22.174 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.174 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.174 * [taylor]: Taking taylor expansion of phi2 in phi2 22.174 * [backup-simplify]: Simplify 0 into 0 22.174 * [backup-simplify]: Simplify 1 into 1 22.174 * [backup-simplify]: Simplify (/ 1 1) into 1 22.175 * [backup-simplify]: Simplify (+ 0 1) into 1 22.175 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.175 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.175 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.175 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.175 * [taylor]: Taking taylor expansion of -0.5 in phi1 22.175 * [backup-simplify]: Simplify -0.5 into -0.5 22.175 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.175 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.175 * [taylor]: Taking taylor expansion of phi1 in phi1 22.175 * [backup-simplify]: Simplify 0 into 0 22.175 * [backup-simplify]: Simplify 1 into 1 22.176 * [backup-simplify]: Simplify (/ 1 1) into 1 22.176 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.176 * [taylor]: Taking taylor expansion of phi2 in phi1 22.176 * [backup-simplify]: Simplify phi2 into phi2 22.176 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.176 * [backup-simplify]: Simplify (+ 1 0) into 1 22.177 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.177 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.177 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.177 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.177 * [taylor]: Taking taylor expansion of -0.5 in phi1 22.177 * [backup-simplify]: Simplify -0.5 into -0.5 22.177 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.177 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.177 * [taylor]: Taking taylor expansion of phi1 in phi1 22.177 * [backup-simplify]: Simplify 0 into 0 22.177 * [backup-simplify]: Simplify 1 into 1 22.178 * [backup-simplify]: Simplify (/ 1 1) into 1 22.178 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.178 * [taylor]: Taking taylor expansion of phi2 in phi1 22.178 * [backup-simplify]: Simplify phi2 into phi2 22.178 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.178 * [backup-simplify]: Simplify (+ 1 0) into 1 22.179 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.179 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.179 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.179 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.179 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.179 * [backup-simplify]: Simplify -0.5 into -0.5 22.179 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.179 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.179 * [taylor]: Taking taylor expansion of phi1 in phi2 22.179 * [backup-simplify]: Simplify phi1 into phi1 22.179 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.179 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.179 * [taylor]: Taking taylor expansion of phi2 in phi2 22.179 * [backup-simplify]: Simplify 0 into 0 22.179 * [backup-simplify]: Simplify 1 into 1 22.180 * [backup-simplify]: Simplify (/ 1 1) into 1 22.180 * [backup-simplify]: Simplify (+ 0 1) into 1 22.181 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.181 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.181 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.181 * [taylor]: Taking taylor expansion of 0 in phi2 22.181 * [backup-simplify]: Simplify 0 into 0 22.181 * [backup-simplify]: Simplify 0 into 0 22.181 * [backup-simplify]: Simplify 0 into 0 22.181 * [taylor]: Taking taylor expansion of 0 in phi2 22.181 * [backup-simplify]: Simplify 0 into 0 22.181 * [backup-simplify]: Simplify 0 into 0 22.181 * [backup-simplify]: Simplify 0 into 0 22.181 * [backup-simplify]: Simplify 0 into 0 22.181 * [taylor]: Taking taylor expansion of 0 in phi2 22.181 * [backup-simplify]: Simplify 0 into 0 22.181 * [backup-simplify]: Simplify 0 into 0 22.182 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2))) 22.182 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 2 1 1 1 1 2) 22.182 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi1 phi2))) 22.182 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in (phi1 phi2) around 0 22.182 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi2 22.182 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi2 22.182 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.182 * [backup-simplify]: Simplify 0.5 into 0.5 22.182 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi2 22.182 * [taylor]: Taking taylor expansion of phi1 in phi2 22.182 * [backup-simplify]: Simplify phi1 into phi1 22.182 * [taylor]: Taking taylor expansion of phi2 in phi2 22.182 * [backup-simplify]: Simplify 0 into 0 22.182 * [backup-simplify]: Simplify 1 into 1 22.182 * [backup-simplify]: Simplify (+ phi1 0) into phi1 22.182 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1) 22.182 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1)) 22.183 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1)) 22.183 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 22.183 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 22.183 * [taylor]: Taking taylor expansion of 0.5 in phi1 22.183 * [backup-simplify]: Simplify 0.5 into 0.5 22.183 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 22.183 * [taylor]: Taking taylor expansion of phi1 in phi1 22.183 * [backup-simplify]: Simplify 0 into 0 22.183 * [backup-simplify]: Simplify 1 into 1 22.183 * [taylor]: Taking taylor expansion of phi2 in phi1 22.183 * [backup-simplify]: Simplify phi2 into phi2 22.183 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 22.183 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.183 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.183 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.183 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi1 phi2))) in phi1 22.183 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi1 phi2)) in phi1 22.183 * [taylor]: Taking taylor expansion of 0.5 in phi1 22.183 * [backup-simplify]: Simplify 0.5 into 0.5 22.183 * [taylor]: Taking taylor expansion of (+ phi1 phi2) in phi1 22.183 * [taylor]: Taking taylor expansion of phi1 in phi1 22.183 * [backup-simplify]: Simplify 0 into 0 22.183 * [backup-simplify]: Simplify 1 into 1 22.183 * [taylor]: Taking taylor expansion of phi2 in phi1 22.183 * [backup-simplify]: Simplify phi2 into phi2 22.183 * [backup-simplify]: Simplify (+ 0 phi2) into phi2 22.183 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2) 22.184 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2)) 22.184 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2)) 22.184 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2)) 22.184 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0 22.184 * [backup-simplify]: Simplify (- 0) into 0 22.184 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2)) 22.185 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 22.185 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 22.185 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.185 * [backup-simplify]: Simplify 0.5 into 0.5 22.185 * [taylor]: Taking taylor expansion of phi2 in phi2 22.185 * [backup-simplify]: Simplify 0 into 0 22.185 * [backup-simplify]: Simplify 1 into 1 22.185 * [backup-simplify]: Simplify (* 0.5 0) into 0 22.187 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 22.187 * [backup-simplify]: Simplify 1 into 1 22.187 * [backup-simplify]: Simplify (+ 0) into 0 22.188 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0 22.188 * [backup-simplify]: Simplify (+ 1 0) into 1 22.189 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5 22.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 22.191 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2))) 22.192 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2)))) 22.192 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2)))) 22.192 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2 22.192 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2 22.192 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.192 * [backup-simplify]: Simplify 0.5 into 0.5 22.192 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2 22.192 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 22.192 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.192 * [backup-simplify]: Simplify 0.5 into 0.5 22.192 * [taylor]: Taking taylor expansion of phi2 in phi2 22.192 * [backup-simplify]: Simplify 0 into 0 22.192 * [backup-simplify]: Simplify 1 into 1 22.193 * [backup-simplify]: Simplify (* 0.5 0) into 0 22.194 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 22.195 * [backup-simplify]: Simplify (* 0.5 0) into 0 22.195 * [backup-simplify]: Simplify (- 0) into 0 22.195 * [backup-simplify]: Simplify 0 into 0 22.195 * [backup-simplify]: Simplify (+ 0) into 0 22.195 * [backup-simplify]: Simplify 0 into 0 22.198 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125) 22.199 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2)))) 22.200 * [backup-simplify]: Simplify (+ 0 0) into 0 22.201 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0 22.201 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0 22.202 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0 22.202 * [backup-simplify]: Simplify (- 0) into 0 22.203 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2)))) 22.203 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2 22.203 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2 22.203 * [taylor]: Taking taylor expansion of 0.125 in phi2 22.203 * [backup-simplify]: Simplify 0.125 into 0.125 22.203 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2 22.203 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2 22.203 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.203 * [backup-simplify]: Simplify 0.5 into 0.5 22.203 * [taylor]: Taking taylor expansion of phi2 in phi2 22.203 * [backup-simplify]: Simplify 0 into 0 22.203 * [backup-simplify]: Simplify 1 into 1 22.203 * [backup-simplify]: Simplify (* 0.5 0) into 0 22.205 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5 22.205 * [backup-simplify]: Simplify (* 0.125 1) into 0.125 22.205 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 22.206 * [backup-simplify]: Simplify (- 0.125) into (- 0.125) 22.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5 22.210 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25 22.210 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 22.210 * [backup-simplify]: Simplify (- 0.25) into (- 0.25) 22.212 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) 22.212 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.212 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 22.212 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.212 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.212 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.212 * [backup-simplify]: Simplify 0.5 into 0.5 22.212 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.212 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.212 * [taylor]: Taking taylor expansion of phi1 in phi2 22.212 * [backup-simplify]: Simplify phi1 into phi1 22.212 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.212 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.212 * [taylor]: Taking taylor expansion of phi2 in phi2 22.212 * [backup-simplify]: Simplify 0 into 0 22.212 * [backup-simplify]: Simplify 1 into 1 22.213 * [backup-simplify]: Simplify (/ 1 1) into 1 22.213 * [backup-simplify]: Simplify (+ 0 1) into 1 22.214 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 22.214 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.214 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.214 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.214 * [taylor]: Taking taylor expansion of 0.5 in phi1 22.214 * [backup-simplify]: Simplify 0.5 into 0.5 22.214 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.214 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.214 * [taylor]: Taking taylor expansion of phi1 in phi1 22.214 * [backup-simplify]: Simplify 0 into 0 22.214 * [backup-simplify]: Simplify 1 into 1 22.215 * [backup-simplify]: Simplify (/ 1 1) into 1 22.215 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.215 * [taylor]: Taking taylor expansion of phi2 in phi1 22.215 * [backup-simplify]: Simplify phi2 into phi2 22.215 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.215 * [backup-simplify]: Simplify (+ 1 0) into 1 22.216 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 22.216 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.216 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.216 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.216 * [taylor]: Taking taylor expansion of 0.5 in phi1 22.216 * [backup-simplify]: Simplify 0.5 into 0.5 22.216 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.216 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.216 * [taylor]: Taking taylor expansion of phi1 in phi1 22.216 * [backup-simplify]: Simplify 0 into 0 22.216 * [backup-simplify]: Simplify 1 into 1 22.217 * [backup-simplify]: Simplify (/ 1 1) into 1 22.217 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.217 * [taylor]: Taking taylor expansion of phi2 in phi1 22.217 * [backup-simplify]: Simplify phi2 into phi2 22.217 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.217 * [backup-simplify]: Simplify (+ 1 0) into 1 22.218 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 22.218 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.218 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.218 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.218 * [taylor]: Taking taylor expansion of 0.5 in phi2 22.218 * [backup-simplify]: Simplify 0.5 into 0.5 22.218 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.218 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.218 * [taylor]: Taking taylor expansion of phi1 in phi2 22.218 * [backup-simplify]: Simplify phi1 into phi1 22.218 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.218 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.218 * [taylor]: Taking taylor expansion of phi2 in phi2 22.218 * [backup-simplify]: Simplify 0 into 0 22.218 * [backup-simplify]: Simplify 1 into 1 22.219 * [backup-simplify]: Simplify (/ 1 1) into 1 22.219 * [backup-simplify]: Simplify (+ 0 1) into 1 22.220 * [backup-simplify]: Simplify (* 0.5 1) into 0.5 22.220 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.220 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.220 * [taylor]: Taking taylor expansion of 0 in phi2 22.220 * [backup-simplify]: Simplify 0 into 0 22.220 * [backup-simplify]: Simplify 0 into 0 22.220 * [backup-simplify]: Simplify 0 into 0 22.220 * [taylor]: Taking taylor expansion of 0 in phi2 22.220 * [backup-simplify]: Simplify 0 into 0 22.220 * [backup-simplify]: Simplify 0 into 0 22.221 * [backup-simplify]: Simplify 0 into 0 22.221 * [backup-simplify]: Simplify 0 into 0 22.221 * [taylor]: Taking taylor expansion of 0 in phi2 22.221 * [backup-simplify]: Simplify 0 into 0 22.221 * [backup-simplify]: Simplify 0 into 0 22.221 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi1 phi2))) 22.221 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.221 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0 22.221 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.221 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.221 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.221 * [backup-simplify]: Simplify -0.5 into -0.5 22.221 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.221 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.221 * [taylor]: Taking taylor expansion of phi1 in phi2 22.221 * [backup-simplify]: Simplify phi1 into phi1 22.221 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.222 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.222 * [taylor]: Taking taylor expansion of phi2 in phi2 22.222 * [backup-simplify]: Simplify 0 into 0 22.222 * [backup-simplify]: Simplify 1 into 1 22.222 * [backup-simplify]: Simplify (/ 1 1) into 1 22.223 * [backup-simplify]: Simplify (+ 0 1) into 1 22.223 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.223 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.223 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.224 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.224 * [taylor]: Taking taylor expansion of -0.5 in phi1 22.224 * [backup-simplify]: Simplify -0.5 into -0.5 22.224 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.224 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.224 * [taylor]: Taking taylor expansion of phi1 in phi1 22.224 * [backup-simplify]: Simplify 0 into 0 22.224 * [backup-simplify]: Simplify 1 into 1 22.224 * [backup-simplify]: Simplify (/ 1 1) into 1 22.224 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.224 * [taylor]: Taking taylor expansion of phi2 in phi1 22.224 * [backup-simplify]: Simplify phi2 into phi2 22.224 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.225 * [backup-simplify]: Simplify (+ 1 0) into 1 22.225 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.225 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.225 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1 22.225 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1 22.225 * [taylor]: Taking taylor expansion of -0.5 in phi1 22.225 * [backup-simplify]: Simplify -0.5 into -0.5 22.225 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1 22.226 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1 22.226 * [taylor]: Taking taylor expansion of phi1 in phi1 22.226 * [backup-simplify]: Simplify 0 into 0 22.226 * [backup-simplify]: Simplify 1 into 1 22.226 * [backup-simplify]: Simplify (/ 1 1) into 1 22.226 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1 22.226 * [taylor]: Taking taylor expansion of phi2 in phi1 22.226 * [backup-simplify]: Simplify phi2 into phi2 22.226 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2) 22.227 * [backup-simplify]: Simplify (+ 1 0) into 1 22.227 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.227 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.227 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2 22.227 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2 22.227 * [taylor]: Taking taylor expansion of -0.5 in phi2 22.227 * [backup-simplify]: Simplify -0.5 into -0.5 22.227 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2 22.227 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2 22.227 * [taylor]: Taking taylor expansion of phi1 in phi2 22.227 * [backup-simplify]: Simplify phi1 into phi1 22.227 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1) 22.227 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2 22.227 * [taylor]: Taking taylor expansion of phi2 in phi2 22.227 * [backup-simplify]: Simplify 0 into 0 22.227 * [backup-simplify]: Simplify 1 into 1 22.228 * [backup-simplify]: Simplify (/ 1 1) into 1 22.228 * [backup-simplify]: Simplify (+ 0 1) into 1 22.233 * [backup-simplify]: Simplify (* -0.5 1) into -0.5 22.233 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.233 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 22.233 * [taylor]: Taking taylor expansion of 0 in phi2 22.233 * [backup-simplify]: Simplify 0 into 0 22.233 * [backup-simplify]: Simplify 0 into 0 22.233 * [backup-simplify]: Simplify 0 into 0 22.233 * [taylor]: Taking taylor expansion of 0 in phi2 22.233 * [backup-simplify]: Simplify 0 into 0 22.233 * [backup-simplify]: Simplify 0 into 0 22.233 * [backup-simplify]: Simplify 0 into 0 22.233 * [backup-simplify]: Simplify 0 into 0 22.233 * [taylor]: Taking taylor expansion of 0 in phi2 22.233 * [backup-simplify]: Simplify 0 into 0 22.233 * [backup-simplify]: Simplify 0 into 0 22.233 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi1 phi2))) 22.234 * * * [progress]: simplifying candidates 22.240 * [simplify]: Simplifying: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 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(cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (- phi2 phi1) (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2)))))) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))))) (- phi2 phi1) (- (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (/ (* lambda2 (* phi1 phi2)) (* (cos (* 0.5 (+ phi1 phi2))) (pow lambda1 2)))))) (+ (* lambda2 (cos (* 0.5 (+ phi1 phi2)))) (+ (/ (* lambda2 (* phi1 phi2)) (* (pow lambda1 2) (cos (* 0.5 (+ phi1 phi2))))) (/ (* phi1 phi2) (* lambda1 (cos (* 0.5 (+ phi1 phi2))))))) (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (- 1 (+ (* 0.25 (* phi1 phi2)) (* 0.125 (pow phi1 2)))) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) 22.250 * * [simplify]: Extracting # 0 : cost 126 inf + 0 22.251 * * [simplify]: Extracting # 1 : cost 245 inf + 0 22.251 * * [simplify]: Extracting # 2 : cost 363 inf + 88 22.252 * * [simplify]: Extracting # 3 : cost 390 inf + 665 22.254 * * [simplify]: Extracting # 4 : cost 373 inf + 4000 22.257 * * [simplify]: Extracting # 5 : cost 334 inf + 17587 22.261 * * [simplify]: Extracting # 6 : cost 311 inf + 25567 22.269 * * [simplify]: Extracting # 7 : cost 232 inf + 62504 22.290 * * [simplify]: Extracting # 8 : cost 166 inf + 108171 22.311 * * [simplify]: Extracting # 9 : cost 81 inf + 203629 22.343 * * [simplify]: Extracting # 10 : cost 21 inf + 293789 22.385 * * [simplify]: Extracting # 11 : cost 1 inf + 327909 22.431 * * [simplify]: Extracting # 12 : cost 0 inf + 329855 22.475 * * [simplify]: iteration 0 : 420 enodes (cost 269824 ) 22.663 * * [simplify]: Extracting # 0 : cost 0 inf + 329855 22.756 * * [simplify]: Extracting # 1 : cost 212 inf + 156078 22.808 * * [simplify]: Extracting # 2 : cost 7 inf + 219981 22.855 * * [simplify]: Extracting # 3 : cost 0 inf + 190934 22.907 * * [simplify]: Extracting # 4 : cost 0 inf + 177379 22.954 * * [simplify]: Extracting # 5 : cost 0 inf + 175695 23.007 * * [simplify]: Extracting # 6 : cost 0 inf + 175655 23.054 * * [simplify]: iteration 1 : 1271 enodes (cost 198964 ) 23.376 * * [simplify]: Extracting # 0 : cost 0 inf + 175655 23.423 * * [simplify]: Extracting # 1 : cost 2260 inf + 173955 23.627 * * [simplify]: Extracting # 2 : cost 32 inf + 937095 23.916 * * [simplify]: Extracting # 3 : cost 9 inf + 939500 24.127 * * [simplify]: Extracting # 4 : cost 0 inf + 942305 24.338 * * [simplify]: iteration done: 5001 enodes (cost 198644 ) 24.341 * [simplify]: Simplified to: (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (* (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (+ (* (* (- 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(sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (+ lambda1 lambda2) (* (+ phi1 phi2) (+ phi1 phi2)))) (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (* (+ lambda1 lambda2) (- (* (* phi1 phi1) phi1) (* (* phi2 phi2) phi2))) (- phi1 phi2)))) (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ lambda1 lambda2))) (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ lambda1 lambda2) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2)))))) (sqrt (* (+ lambda1 lambda2) (+ phi1 phi2))) (sqrt (+ (* (* (* (- lambda1 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phi2)) (* phi1 phi1))))) (sqrt (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))) (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2)))) (+ phi1 phi2))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (* (- (* (* phi1 phi1) phi1) (* (* phi2 phi2) phi2)) (- (* phi1 phi1) (* phi2 phi2))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))) (sqrt (* (* (+ phi1 phi2) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))) (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2)))) (+ phi1 phi2))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (* (- (* (* phi1 phi1) phi1) (* (* phi2 phi2) phi2)) (- (* phi1 phi1) (* phi2 phi2))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))) (sqrt (* (* (+ phi1 phi2) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))) (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2)))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (+ phi1 phi2) (+ phi1 phi2)))))) (sqrt (* (* (+ phi1 phi2) (+ phi1 phi2)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))) (sqrt (+ (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (- phi1 phi2)) (- (* (* phi1 phi1) phi1) (* (* phi2 phi2) phi2))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2)))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))))) (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))) (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2)))) (+ phi1 phi2))))) (sqrt (* (+ phi1 phi2) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))) (sqrt (+ (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (- phi1 phi2)) (- (* (* phi1 phi1) phi1) (* (* phi2 phi2) phi2))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2)))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))))) (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))) (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (- (* lambda1 (* lambda1 lambda1)) (* lambda2 (* lambda2 lambda2)))) (+ phi1 phi2))))) (sqrt (* (+ phi1 phi2) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))) (sqrt (+ (* (* (+ lambda1 lambda2) (- (* (* phi1 phi1) phi1) (* (* phi2 phi2) phi2))) (- (* (* phi1 phi1) phi1) (* (* phi2 phi2) phi2))) (* (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))))) (sqrt (* (+ lambda1 lambda2) (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))) (sqrt (+ (* (* (+ phi1 phi2) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))) (* (* (+ lambda1 lambda2) (- (* phi1 phi1) (* phi2 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phi2) 2.0)))))))) (sqrt (- (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (* (* (- phi1 phi2) (- phi1 phi2)) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (- (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) 1/2 (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (log (cos (/ (+ phi1 phi2) 2.0))) (exp (cos (/ (+ phi1 phi2) 2.0))) (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0)))) (cbrt (cos (/ (+ phi1 phi2) 2.0))) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (sqrt (cos (/ (+ phi1 phi2) 2.0))) (- phi2 phi1) (- (+ (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* (/ lambda2 (* lambda1 lambda1)) (/ (* phi1 phi2) (cos (* 0.5 (+ phi1 phi2))))))) (+ (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* (/ lambda2 (* lambda1 lambda1)) (/ (* phi1 phi2) (cos (* 0.5 (+ phi1 phi2)))))) (- phi2 phi1) (- (+ (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* (/ lambda2 (* lambda1 lambda1)) (/ (* phi1 phi2) (cos (* 0.5 (+ phi1 phi2))))))) (+ (+ (/ (* phi1 phi2) (* (cos (* 0.5 (+ phi1 phi2))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi1 phi2))))) (* (/ lambda2 (* lambda1 lambda1)) (/ (* phi1 phi2) (cos (* 0.5 (+ phi1 phi2)))))) (- (- 1 (* 0.25 (* phi1 phi2))) (* (* phi1 phi1) 0.125)) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) (- (- 1 (* 0.25 (* phi1 phi2))) (* (* phi1 phi1) 0.125)) (cos (* 0.5 (+ phi1 phi2))) (cos (* 0.5 (+ phi1 phi2))) 24.447 * * * [progress]: adding candidates to table 26.195 * [progress]: [Phase 3 of 3] Extracting. 26.195 * * [regime]: Finding splitpoints for: (# # # # # # # # # # # # #) 26.213 * * * [regime-changes]: Trying 9 branch expressions: ((- lambda1 lambda2) (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) phi2 phi1 lambda2 lambda1 R) 26.213 * * * * [regimes]: Trying to branch on (- lambda1 lambda2) from (# # # # # # # # # # # # #) 26.419 * * * * [regimes]: Trying to branch on (- lambda1 lambda2) from (# # # # # # # #) 26.570 * * * * [regimes]: Trying to branch on (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))) from (# # # # # # # # # # # # #) 26.771 * * * * [regimes]: Trying to branch on (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))) from (# # #) 26.827 * * * * [regimes]: Trying to branch on (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) from (# # # # # # # # # # # # #) 26.993 * * * * [regimes]: Trying to branch on (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) from (# # #) 27.067 * * * * [regimes]: Trying to branch on (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) from (# # # # # # # # # # # # #) 27.320 * * * * [regimes]: Trying to branch on phi2 from (# # # # # # # # # # # # #) 27.507 * * * * [regimes]: Trying to branch on phi1 from (# # # # # # # # # # # # #) 27.713 * * * * [regimes]: Trying to branch on lambda2 from (# # # # # # # # # # # # #) 27.942 * * * * [regimes]: Trying to branch on lambda1 from (# # # # # # # # # # # # #) 28.201 * * * * [regimes]: Trying to branch on R from (# # # # # # # # # # # # #) 28.394 * * * [regime]: Found split indices: #